News
From Project Funding to a Solved Problem & New Start-Up
Our research team has successfully completed a groundbreaking project aimed at automating the internal polishing process for Siemens Energy’s combustion turbine transition duct pieces. This initiative, funded by the ARM Institute, not only addressed a critical industry challenge but also laid the foundation for a new robotics start-up, Instinct Robotics.... Read More
January 28, 2025
Alan Named 2025 Regeneron Science Talent Search (STS) Scholar!
We are proud to announce that Alan Jiaqi Chen, a high school intern in our lab, has been named a 2025 Regeneron Science Talent Search (STS) Scholar for his research project, “AssemblyComplete: Deep Reinforcement Learning-Based Combinatorial 3D Assembly Completion.” Advancing AI for 3D Assembly Completion Alan’s research focuses on leveraging... Read More
January 9, 2025
Tairan Receives NVIDIA Graduate Fellowship!
We are thrilled to announce that Tairan He, 2nd-year PhD student in our lab, co-advised with Prof. Guanya Shi, has been awarded the prestigious NVIDIA Graduate Fellowship for his outstanding research in humanoid robots. This fellowship recognizes exceptional graduate students who are conducting cutting-edge research in GPU computing, AI, and... Read More
December 17, 2024
Happy Thanksgiving from ICL!
Fantastic gathering!
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November 27, 2024
We are on WTAE-TV Pittsburgh
Check out the article here: https://www.wtae.com/article/carnegie-mellon-university-humanoid-robot/62939682.
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November 17, 2024
Talk@UWindsor - Certification of AI in Robotics Systems
Changliu gave a talk at WashU, titled Certification of AI in Robotics Systems. As AI components increasingly integrate into robotic systems, developing tools to certify their accuracy, robustness, and safety is essential. Although methods for the formal verification of neural networks have garnered attention in recent years, applying these methods... Read More
November 7, 2024
Modern Machine Shop Quotes Our Work
We are excited to share that Modern Machine Shop has featured our lab’s research in robotics and AI-driven manufacturing automation in two recent articles! These pieces highlight our contributions to robotic manipulation, data-driven automation, and intelligent manufacturing systems, showcasing how we continues to push the boundaries of smart production technology.... Read More
October 29, 2024
Talk@WashU - Scaling Up Robot Reasoning Using Hierarchical Representations
Changliu gave a talk at WashU, titled Scaling Up Robot Reasoning Using Hierarchical Representations. Hierarchical reasoning is an efficient symbolic reasoning approach that breaks complex problems into smaller, more manageable pieces, leading to faster and more optimal solutions. In this talk, I will demonstrate how introducing hierarchies enhance robot reasoning.... Read More
October 24, 2024
Tianhao Passed Thesis Defense!
Congratulations to Dr. Wei, the third PhD graduated from the Intelligent Control Lab!
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July 25, 2024
Changliu Receives the ISFA Young Investigator Award!
ISFA Young Investigator Award! Changliu received the Young Investigator Award at International Symposium of Flexible Automation. The quote is: For significant advancements in intelligent robot control that enables safe and efficient human-robot collaborations for flexible manufacturing. Changliu’s acceptance speech: Good afternoon, esteemed colleagues, and fellow researchers. It is an immense... Read More
July 22, 2024
Talk@Princeton - Ensuring Robot Safety Through Safety Index Synthesis
Changliu gave a talk at Princeton Robotics Seminar, titled Ensuring Robot Safety Through Safety Index Synthesis. Safety Index is a special class of high order control barrier functions. Its purpose is to ensure forward invariance within a user-specified safe set and achieve finite time convergence to that set. Synthesizing a... Read More
April 4, 2024
Our Robots Wish You a Happy V Day!
Happy Valentine’s Day! ICL wishes you and your significant one a wonderful Valentine’s day. Our robots are excited for this special date. Destroyer is ready to surprise you with a Valentine’s Lego. Let’s do this! Great job. Destroyer wishes you a happy V day with a Lego heart! Interested to... Read More
February 13, 2024
Happy Thanksgiving from ICL!
Fantastic gathering!
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November 22, 2023
Changliu Receives the 2023 ARM Champion Award
Congratulations to Changliu for receiving the 2023 ARM Champion Award! The ARM Champion Award Program is an effort to recognize members of the Advanced Robotics for Manufacturing Institute who go above and beyond. Changliu has made a substantial impact to ARM through her work in robot safety. Launched in 2021,... Read More
November 15, 2023
Great Robot Grinding Demo
During the ARM annual member meeting, we demonstrated our autonomous robot grinding system, which is able to perform autonomous calibration, autonomous planning, and autonomous control for efficient weld bead removal. This project has been supported by ARM Insitute and NextFlex, and is in collaboration with Siemens Energy and Yaskawa. One... Read More
November 13, 2023
Anirudh Named Davidson Fellows
October 12, 2023
Weiye Passed Thesis Defense!
Congratulations to Dr. Zhao, the second PhD graduated from the Intelligent Control Lab!
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September 7, 2023
Simin Gets QualComm Innovation Fellowship!
Congratulations Simin! Read more here
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July 31, 2023
ICRA Outstanding Interaction Paper Award!
ICRA 2023
Congratulations to Alvin Shek, Bo Ying Su, and Rui Chen for winning the ICRA Outstanding Interaction Paper Award. Read more on the paper Learning from Physical Human Feedback:
An Object-Centric One-Shot Adaptation Method here.
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May 31, 2023
Check out the Sweater (a textile and tactile skin) on our FANUC robot
Robot Sweater
Check out the post here
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May 24, 2023
Graduation!
Graduation 2023
Congratulations to Jaskaran for his PhD degree, and Yifan for his master degree!
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May 12, 2023
New Paper Accepted to RA-L
Collaborative assembly demo.
Check out new RA-L paper Robust and Context-Aware Real-Time Collaborative Robot Handling via Dynamic Gesture Commands.
Full video available at ICL YouTube channel.
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April 20, 2023
Jaskaran Passed His Thesis Defense
Congratulations to Dr. Grover, the first PhD graduated from the Intelligent Control Lab!
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March 21, 2023
ICL Presence at CoRL 2022
Check our papers
Safe control under input saturation with neural control barrier functions.
ARC - Actor Residual Critic for Adversarial Imitation Learning.
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December 13, 2022
Ruixuan and Rui gets the CPHS 2022 Best Student Paper award! Jaskaran gets the Best Student Paper Finalist!
Congratulations to Ruixuan Liu and Rui Chen! Their paper Task-Agnostic Adaptation for Safe Human-Robot Handover gets the best student paper award at CPHS 2022.
Congratulations to Jaskaran! His paper Semantically-Aware Pedestrian Intent Prediction With Barrier Functions and Mixed-Integer Quadratic Programming gets the best student paper finalist!
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December 1, 2022
Happy Thanksgiving from ICL!
Happy Thanksgiving and happy holidays from ICL!
Fantastic gathering! Enjoying the nice weather and food!
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November 24, 2022
Watch Our Demo on Safe and Efficient HRC
Overview Robots are used in existing production lines to automate manufacturing processes. However, contemporary manufacturing not only wants mass production, but also masscustomization to satisfy different needs from the customers. Therefore, it is desired to combine the productivity by robots, and the flexibility from humans to improve mass customization. Our... Read More
October 5, 2022
ICL Presence at AIM 2022
Check our paper Jerk-bounded Position Controller with Real-Time Task Modification for Interactive Industrial Robots.
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July 11, 2022
ICL Presence at 2022 International Symposium on Flexible Automation
Check our papers
Robust Task Planning for Assembly Lines with Human-Robot Collaboration.
Safe Interactive Industrial Robots using Jerk-based Safe Set Algorithm.
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July 2, 2022
Task-Agnostic Adaptation for Safe Human-Robot Handover in RSS 2022 Workshop
Rui Chen presented our paper at RSS 2022 Workshop in Close-Proximity Human-Robot Collaboration.
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June 30, 2022
The Force Behind the Mask
The U.S. Department of Commerce’s National Institute of Standards and Technology (NIST) awarded AFFOA (Advanced Functional Fabrics of America) and 16 cross-institute collaborators over $11M in funding as part of the American Rescue Act’s Rapid Assistance (for) Coronavirus Economic Response (RACER) program. We are excited to be part of the... Read More
April 21, 2022
Learning from Physical Human Feedback
Check our paper Learning from Physical Human Feedback - An Object-Centric One-Shot Adaptation Method.
Read more on the blog post.
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March 12, 2022
Virtual Lab Tour
March 6, 2022
Congratulations Jaskaran for Passing PhD Thesis Proposal
Jaskaran passed his PhD thesis proposal for the work on “System Identification and Control of Multiagent Systems Through Interactions”.
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March 4, 2022
HRI Demo for President Biden
During President Biden’s visit, we demonstrated our work on human-robot collaboration. Our research is to build intelligent robots that interact with the world like humans so that they can better assist and collaborate with people. While there are various tasks that humans and robots can collaborate in a manufacturing environment,... Read More
January 29, 2022
NSF Career Award!
Our proposal “Toward Lifelong Safety of Autonomous Systems in Uncertain and Interactive Environments” gets selected by NSF Career Award. This Faculty Early Career Development Program (CAREER) grant will fund research that enables autonomous systems to operate safely in close interaction with humans, as required, for example, in next generation manufacturing... Read More
January 26, 2022
ATI's Article on Our Work
ATI shared the story of our project on robotic weld bead removal project. Read the post here.
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December 9, 2021
Congratulations Tianhao for Passing Qualification Exam!
Congratulations Tianhao!
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November 18, 2021
Weiye Presented Our Paper in CoRL 2021
Check our paper
Model-free Safe Control for Zero-Violation Reinforcement Learning.
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November 7, 2021
ICL presence at MECC 2021
System Identification of Safe Controllers Using Inverse Optimization
Safe Adaptation with Multiplicative Uncertainties Using Robust Safe Set Algorithm (preprint)
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October 25, 2021
ICL Mini Workshop on Recent Projects
Learn more of our recent work through the mini workshop. 0:00 Tianhao Wei: Robotic safety with Neural Network Components 11:50 Ruixuan Liu: Towards safe human-robot collaboration 25:40 Rui Chen and Alvin Shek: Real-time Collaborative Robot Handling with Recurrent Encoder-Decoder Attentive Neural Process 39:06 Letian Wang: Hierarchical, Adaptable and Transferable Networks... Read More
August 14, 2021
Ruixuan's Master Thesis Talk on Data-Efficient Behavior Prediction for Safe Human-Robot Collaboration
Ruixuan finishes his master study on Data-Efficient Behavior Prediction for Safe Human-Robot Collaboration. His thesis can be found here.
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August 14, 2021
Keynote Talk in the RSS R4P Workshop
July 19, 2021
2nd International Verification of Neural Networks Competition (VNN-COMP'21)
The organizers reported the results of VNN-COMP’21 on 4th Workshop on Formal Methods for ML-Enabled Autonomous Systems (FoMLAS) affiliated with CAV 2021. The benchmarks used in the competition can be found here. The final slides can be found here.
The final report will be out soon.
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July 18, 2021
Presentation Video in ECC, 2021
Flexible MPC-based Conflict Resolution Using Online Adaptive ADMM
Feasible Region-based Identification Using Duality
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June 7, 2021
Presentation Video in ICRA, 2021
Distributed Motion Coordination Using Convex Feasible Set Based Model Predictive Control
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May 31, 2021
Congratulations Jaskaran and Weiye for Passing Qualification Exam!
Congratulations Jaskaran and Weiye!
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May 19, 2021
Presentation Video in ACC, 2021
Human Motion Prediction Using Adaptable Recurrent Neural Networks and Inverse Kinematics
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April 19, 2021
Talk in Lorentz Workshop "Robust Artificial Intelligence"
January 31, 2021
Chase gets the Uber PhD Fellowship!
Chase Noren, 2nd year PhD student in the lab, gets the prestigious Uber PhD Fellowship.
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December 7, 2020
Presentation Videos in CoRL, 2020
Tolerance-guided Policy Learning for Adaptable and Transferrable Delicate Industrial Insertion
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November 13, 2020
Presentation Videos in DSCC, 2020
Contact-Rich Trajectory Generation in Confined Environment using Iterative Convex Optimization
Multi-car Convex Feasible Set Algorithm in Trajectory Planning
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October 14, 2020
Weiye gets the DSCC 2020 Best Student Paper Finalist!
Weiye’s paper Contact-Rich Trajectory Generation in Confined Environments Using Iterative Convex Optimization gets the Best Student Paper Finalist in DSCC 2020.
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October 3, 2020
Presentation Video in ACC, 2020
Experimental Evaluation of Human Motion Prediction Toward Safe and Efficient Human Robot Collaboration
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June 23, 2020
Presentation Videos in L4DC, IFAC World Congress, ACC
Robust online model adaptation by EKF with exponential moving average and dynamic multi-epoch strategy
(L4DC)
Why does symmetry cause deadlocks?
(IFAC World Congress)
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June 19, 2020
We received Amazon Research Reward!
The project “Hierarchical Motion Planning for Efficient and Provably Safe Human-Robot Interactions” received 2019 Amazon Research Reward.
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June 19, 2020
50% Demo for Automatic Onsite Polishing
March 31, 2020
Tianhao presented safe control in CDC
Tianhao presented the paper Safe control algorithms using energy functions: A unified framework, benchmark, and new directions in the 58th IEEE Conference on Decision and Control. The code is available here.
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December 10, 2019
Siyan presented adaptable human prediction in AI for HRI
Siyan presented the paper Adaptable Human Intention and Trajectory Prediction for Human-Robot Collaboration in the AAAI Fall Symposium Series - AI for HRI. This work was done by Abulikemu and Siyan during their internships in ICL. More information can be found in the poster and the presentation slides.
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November 7, 2019
We published a new book with CRC Press!
The book “Designing Robot Behavior in Human-Robot Interactions” is available here.
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October 10, 2019
Jaskaran gets the Uber Presidential Fellowship!
Jaskaran Grover, 2nd year PhD student in the lab, gets the prestigious Uber Presidential Fellowship.
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September 1, 2019
Tutorial on NeuralVerification.jl available on YouTube
August 4, 2019
The Difference Between Technology and Fantasy
The Robotiq Blog posted an interview with Changliu (link). In this interview, Changliu talks cobot safety, the importance of having realistic expectations of what cobots can and can’t do and her vision of a manufacturing world after cobots.
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July 13, 2019
CARS Workshop on NeuralVerification.jl
We will organize a workshop at Stanford on June 7 and June 10 introducing the toolbox NeuralVerification.jl. Agenda can be found here.
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May 16, 2019
Oral presentation in the 2019 IEEE Intelligent Vechicle Symposium
We will present our paper “AGen - Adaptable generative prediction networks for autonomous driving” in IV2019 in June. Preprints will be available soon.
This work is supported by Holomatic. We would like to thank our sponsor for their generous support.
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May 15, 2019
Visitors from Choate Rosemary Hall
A group of high school students and teachers from Choate visited the Intelligent Control Lab.
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May 10, 2019
Our ICLR workshop paper received the Best Applied Paper Award
Our paper “NeuralVerification.jl: Algorithms for Verifying Deep Neural Networks” has won the Best Applied Paper award at the ICLR 2019 Workshop on Debugging Machine Learning Models. This paper will be presented at the workshop on May 6.
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April 28, 2019
We received a generous donation from FANUC!
FANUC generously donated an industrial robot arm LR Mate 200iD/7L to the Intelligent Control Lab to support our research.
We look forward to developing more pratical methodologies and industrial applications with the robot arm.
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April 15, 2019
Webinar "Algorithms for Verifying Deep Neural Networks" available on YouTube
Deep neural networks are widely used for nonlinear function approximation with applications spanning from computer vision to control. Although these networks involve the composition of simple arithmetic operations, it can be very challenging to verify whether a particular network satisfies certain input-output properties. This talk provides an overview of methods... Read More
April 2, 2019
Preprint "Algorithms for Verifying Deep Neural Networks" available on ArXiv
This paper surveys emerging algorithms to verify whether a deep neural network satisfies certain input-output properties. We will present the work at AAAI 2019 Spring Symposium Verification of Neural Networks (VNN19) on March 25, and ICLR 2019 Workshop on Debugging Machine Learning Models (DebugML-19) on May 6.
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March 17, 2019