Publications

Journals

1. A. Iqbal, S. Veer, Y. Gu, “Analytical Solution to a Time-Varying LIP Model for Quadrupedal Walking on a Vertically Oscillating Surface” in IFAC Mechatronics, 2023.

2. P. Chand, S. Veer, I. Poulakakis, “Interactive Dynamic Walking: Learning Gait Switching Policies with Generalization Guarantees” in IEEE Robotics and Automation Letters (RAL), 2022.

3. S. Veer, I. Poulakakis, “Switched Systems with Multiple Equilibria Under Disturbances: Boundedness and Practical Stability” in IEEE Transactions on Automatic Control (TAC), June 2020.

4. S. Veer, Rakesh, I. Poulakakis, “Input-to-State Stability of Periodic Orbits of Systems with Impulse Effects via Poincaré Analysis” in IEEE Transactions on Automatic Control (TAC), 2019.

5. S. Veer, S. Sujatha, “Approximate Spring Balancing of Linkages to Reduce Actuator Requirements” in Mechanism and Machine Theory (MMT), April 2015.

Conferences

1. S. Veer, A. Sharma, M. Pavone, “Multi-Predictor Fusion: Combining Learning-based and Rule-based Trajectory Predictors” in Proceedings of the Conference on Robot Learning (CoRL), 2023.

2. A. Sharma, S. Veer, A. Hancock, H. Yang, M. Pavone, A. Majumdar, “PAC-Bayes Generalization Certificates for Learned Inductive Conformal Prediction” in Proceedings of the Neural Information Processing Systems (NeurIPS), 2023.

3. P. Antonante, S. Veer, K.Leung, X. Weng, L. Carlone, M. Pavone, “Task-Aware Risk Estimation of Perception Failures for Autonomous Vehicles” in Proceedings of Robotics: Science and Systems (RSS), 2023.

4. S. Veer, K. Leung, R. Cosner, Y. Chen, P. Karkus, M. Pavone, “Receding Horizon Planning with Rule Hierarchies for Autonomous Vehicles” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2023.

5. Z. Zhong, D. Rempe, D. Xu, Y. Chen, S. Veer, T. Che, B. Ray, M. Pavone, “Guided Conditional Diffusion for Controllable Traffic Simulation” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2023.

6. K. Leung, S. Veer, E. Schmerling, M. Pavone, “Learning Autonomous Vehicle Safety Concepts from Demonstrations” in Proceedings of the American Control Conference (ACC), 2023.

7. A. Iqbal, S. Veer, Y. Gu, “Asymptotic Stabilization of Aperiodic Trajectories of a Hybrid-Linear Inverted Pendulum Walking on a Dynamic Rigid Surface” in Proceedings of the American Control Conference (ACC), 2023.

8. *A. Farid, *S. Veer, K. Leung, B. Ivanovic, M. Pavone, “Task-Relevant Failure Detection for Trajectory Predictors in Autonomous Vehicles” in Proceedings of the Conference on Robot Learning (CoRL), 2022. *(Equal Contribution)

9. A. Agarwal, S. Veer, A.Z. Ren, A. Majumdar, “Stronger Generalization Guarantees for Robot Learning by Combining Generative Models and Real-World Data” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2022.

10. *A. Farid, *S. Veer, A. Majumdar, “Task-Driven Out-of-Distribution Detection with Statistical Guarantees for Robot Learning” in Proceedings of the Conference on Robot Learning (CoRL), 2021. [Video] [Code]. *(Equal Contribution)

11. S. Veer, A. Majumdar, “Probably Approximately Correct Vision-Based Planning using Motion Primitives” in Proceedings of the Conference on Robot Learning (CoRL), 2020. [Video] [Code].

12. A. Z. Ren, S. Veer, A. Majumdar, “Generalization Guarantees for Multi-Modal Imitation Learning” in Proceedings of the Conference on Robot Learning (CoRL), 2020. [Video] [Code].

13. C. Allen-Blanchette, S. Veer, A. Majumdar, N. Leonard, “LagNetViP: A Lagrangian Neural Network for Video Frame Prediction” in AAAI Symposium on Physics-guided AI for Accelerating Scientific Discovery, 2020. (Accepted)

14. P. Chand, S. Veer, I. Poulakakis, “An Adaptive Supervisory Control Approach to Dynamic Locomotion Under Parametric Uncertainty” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2020.

15. S. Veer, I. Poulakakis, “Robustness of Periodic Orbits of Impulsive Systems à la Poincaré” in Proceedings of the IEEE Conference on Decision and Control (CDC), 2019.

16. S. Kolathaya, S. Veer, “PD based Robust Quadratic Programs for Robotic Systems” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019.

17. S. Veer, I. Poulakakis, “Safe Adaptive Switching among Dynamical Movement Primitives: Application to 3D Limit-Cycle Walkers” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2019.

18. S. Veer, I. Poulakakis, “Practical Stability of Switched Systems With Multiple Equilibria Under Disturbances” in Proceedings of the American Control Conference (ACC), 2019.

19. S. Veer, M. S. Motahar, I. Poulakakis, “Generation of and Switching among Limit-Cycle Bipedal Walking Gaits” in Proceedings of the IEEE Conference on Decision and Control (CDC), 2017.

20. S. Veer, M. S. Motahar, I. Poulakakis, “Adaptation of Limit-Cycle Walkers for Collaborative Tasks: A Supervisory Switching Control Approach” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.

21. S. Veer, M. S. Motahar, I. Poulakakis, “Almost Driftless Navigation of 3D Limit-Cycle Walking Bipeds” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.

22. M. S. Motahar, S. Veer, I. Poulakakis, “Steering a 3D Limit-Cycle Biped for Collaboration with a Leader” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.

23. M. S. Motahar, S. Veer, I. Poulakakis, “Composing Limit Cycles for Motion Planning of 3D Bipedal Walkers” in Proceedings of the IEEE Conference on Decision and Control (CDC), 2016

24. S. Veer, M. S. Motahar, I. Poulakakis, “Local Input-to-State Stability of Dynamic Walking Under Persistent External Excitation using Hybrid Zero Dynamics” in Proceedings of the American Control Conference (ACC), 2016.

25. M. S. Motahar, S. Veer, J. Huang and I. Poulakakis, “Integrating Dynamic Walking and Arm Impedance Control for Cooperative Transportation” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015.

26. S. Veer, M. S. Motahar, I. Poulakakis, “On the Adaptation of Dynamic Walking to Persistent External Forcing using Hybrid Zero Dynamics Control” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015.

Posters and Presentations

1. S. Veer (Presenter), M. S. Motahar, and I. Poulakakis, “Physical Collaboration between Dynamically Walking Bipedal Robots and Humans,” in Research Day, UD Mechanical Engineering, Newark, Delaware, April 27, 2017. (Won Best Poster Award in Robotics and Controls)

2. S. Veer (Presenter), M. S. Motahar, and I. Poulakakis, “Integration of Dynamic Walking with Arm Impedance Control for Safe Physical Human-Biped Collaboration”, in Workshop: Challenges in Modeling and Control of Small-Scale Robots at Robotics: Science and Systems (RSS), Ann-Arbor, Michigan, June 18-22, 2016.

3. H. Chaudhari, S. Veer (Presenter) and S. Sujatha, “Design of A Standing Wheelchair”, in Proceedings of the International Society of Prosthetics and Orthotics, World Congress, Hyderabad, India, February 4-7, 2013. (Won the Yeongchi Wu International Education Award)