research VR Teleop Data Collection for Franka Panda Meta Quest 3 Pro teleoperation for a real Franka Panda, built to collect the demonstrations that train downstream manipulation policies Latent Safety Filters: A Stability-Centric Safety Monitor for Manipulation A label-free safety monitor that flags unsafe actions from a learned manipulation policy before they execute, by checking the stability of a learned world model's rollouts Diffusion Policy for Real-Robot Manipulation Adapting Diffusion Policy to dual-camera Franka Panda manipulation, with a real-time serving architecture for closed-loop control Cartesian Impedance Control for Franka Panda Null-space projected Cartesian impedance controller for a 7-DOF Franka Panda, simulated in MuJoCo with Pinocchio for kinematics/dynamics LQR-Trees for Feedback Motion Planning Lyapunov funnels and sums-of-squares programming to build regions of attraction and stabilize trajectories on a sparse randomized tree Chaos-Aware Sensitivity Analysis of RL Policies Using Finite-Time Lyapunov Exponents to analyze the sensitivity of SAC/PPO policies trained on a sparse-reward pendulum swing-up task design Sensus: Electro-Tactile Braille Interface A wearable interface that renders braille on the fingertip through electro-tactile stimulation, giving people with dual sensory loss passive access to text
