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Wyatt Ubellacker
Wyatt Ubellacker
Verified email at caltech.edu
Title
Cited by
Cited by
Year
Model-Free Safety-Critical Control for Robotic Systems
TG Molnar, R Cosner, A Singletary, W Ubellacker, A Ames
IEEE Robotics and Automation Letters, 2021
662021
The HERMES humanoid system: A platform for full-body teleoperation with balance feedback
A Wang, J Ramos, J Mayo, W Ubellacker, J Cheung, S Kim
2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids …, 2015
572015
Interactive multi-modal motion planning with Branch Model Predictive Control
Y Chen, U Rosolia, W Ubellacker, N Csomay-Shanklin, AD Ames
arXiv preprint arXiv:2109.05128, 2021
532021
Online learning of unknown dynamics for model-based controllers in legged locomotion
Y Sun, WL Ubellacker, WL Ma, X Zhang, C Wang, NV Csomay-Shanklin, ...
IEEE Robotics and Automation Letters 6 (4), 8442-8449, 2021
392021
Safety-Aware Preference-Based Learning for Safety-Critical Control
RK Cosner, M Tucker, AJ Taylor, K Li, TG Molnár, W Ubellacker, A Alan, ...
arXiv preprint arXiv:2112.08516, 2021
262021
A balance feedback interface for whole-body teleoperation of a humanoid robot and implementation in the HERMES system
J Ramos, A Wang, W Ubellacker, J Mayo, S Kim
2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids …, 2015
242015
A ball-shaped underwater robot for direct inspection of nuclear reactors and other water-filled infrastructure
A Mazumdar, A Fittery, W Ubellacker, HH Asada
2013 IEEE International Conference on Robotics and Automation, 3415-3422, 2013
242013
Robust Locomotion on Legged Robots through Planning on Motion Primitive Graphs
W Ubellacker, A Ames
arXiv preprint arXiv:2209.07503, 2022
162022
Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots
W Ubellacker, N Csomay-Shanklin, TG Molnar, AD Ames
arXiv preprint arXiv:2106.10310, 2021
162021
Software system for the Mars 2020 mission sampling and caching testbeds
K Edelberg, P Backes, J Biesiadecki, S Brooks, D Helmick, W Kim, ...
2018 IEEE Aerospace Conference, 1-11, 2018
142018
Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision
RK Cosner, IDJ Rodriguez, TG Molnar, W Ubellacker, Y Yue, AD Ames, ...
2022 International Conference on Robotics and Automation (ICRA), 11487-11493, 2022
112022
The intelligent robotics system architecture applied to robotics testbeds and research platforms
P Backes, K Edelberg, P Vieira, W Kim, A Brinkman, S Brooks, ...
2018 IEEE Aerospace Conference, 1-8, 2018
92018
Automated meal production system and apparatus
MS Farid, BE Knight, LS Schlueter, KT Rogers, WL Ubellacker, SN Seidell
US Patent 10,154,762, 2018
82018
Safety-Critical Controller Verification via Sim2Real Gap Quantification
P Akella, W Ubellacker, AD Ames
arXiv preprint arXiv:2209.09337, 2022
72022
Synthesizing Reactive Test Environments for Autonomous Systems: Testing Reach-Avoid Specifications with Multi-Commodity Flows
A Badithela, JB Graebener, W Ubellacker, EV Mazumdar, AD Ames, ...
arXiv preprint arXiv:2210.10304, 2022
52022
Ssdev-Ecat: A Configurable Motion Control Server for Mars 2020 Hardware Testbeds
D Levine, T Brown, K Edelberg, W Ubellacker, S Brooks, C Assad, D Wai, ...
2022 IEEE Aerospace Conference (AERO), 01-06, 2022
42022
Probabilistic Guarantees for Nonlinear Safety-Critical Optimal Control
P Akella, W Ubellacker, AD Ames
arXiv preprint arXiv:2303.06258, 2023
32023
Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments
K Johansson, U Rosolia, W Ubellacker, A Singletary, AD Ames
arXiv preprint arXiv:2110.01002, 2021
32021
Mechanical Design, Planning, and Control for Legged Robots in Distillation Columns
T Molnar, K Tighe, W Ubellacker, A Kalantari, A Ames
Journal of Computational and Nonlinear Dynamics, 1-12, 2023
22023
Test and evaluation of quadrupedal walking gaits through sim2real gap quantification
P Akella, W Ubellacker, AD Ames
arXiv preprint arXiv:2201.01323, 2022
22022
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