John S. Baras

Belief-Informed Hybrid Control with Almost-Sure Target-Set Convergence

Controlling a hybrid system to a target set under parameter uncertainty can require informative actions that temporarily drive the system state away from the specified set. We propose a belief-informed dual-control algorithm that combines belief-space receding-horizon selection with an expected-decrease constraint on a...

Does Imitation Learning Preserve Temporal Robustness in Dexterous Manipulation? An Expert-Learner Comparison Across Task Execution Speeds

Equal nominal task success does not imply preservation of expert performance across execution speeds, and an expert and learner under the same task conditions, initial-condition draws, and speedup factors is compared.

Adaptive Safety Filter for Refining Manipulator Control in Shared Human-Robot Spaces*

Grasp Execution Without a Planner: Configuration-Space Grasp Distance Fields with Certified Safety&Guaranteed Quality

GDFs, smooth softmin distances to finite sets of arm-hand grasp configurations to handle changes in contact topology are presented, and a hysteretic contact-mode transition with a wrench-quality CBF that limits degradation of the realized force-closure margin relative to hold onset is combined.