arXiv preprint

arXiv:2603.14634, April 2026

Physically Accurate Rigid-Body Dynamics in Particle-Based Simulation [PDF] [BIB]

Ava Abderezaei , Nataliya Nechyporenko , Joseph Miceli , Gilberto Briscoe-Martinez , and Alessandro Roncone
Introduces PBD-R, a revised Position-Based Dynamics formulation with a novel momentum-conservation constraint and modified velocity update for physically accurate rigid-body simulation, plus a solver-agnostic 7-test physics benchmark. Code: HIRO-group/newton.

IEEE International Conference on Robotics and Automation [ICRA]

Vienna, Austria, June 2026

Moving On, Even When You're Broken: Fail-Active Trajectory Generation via Diffusion Policies Conditioned on Embodiment and Task [PDF] [BIB]

Gilberto Briscoe-Martinez , Yaashia Gautam , Rahul Shetty , Anuj Pasricha , Marco M. Nicotra , and Alessandro Roncone

IFAC World Congress

Busan, South Korea, August 2026

Compliant Explicit Reference Governor for Contact Friendly Robotic Manipulators [PDF] [BIB]

Yaashia Gautam , Gilberto Briscoe-Martinez , Adhitya Mohan , Nataliya Nechyporenko , Alessandro Roncone , and Marco M. Nicotra
Co-first author (equal contribution with Yaashia Gautam).

IEEE/RSJ International Conference on Intelligent Robots and Systems [IROS]

Abu Dhabi, UAE, October 14-18

Exploring How Non-Prehensile Manipulation Expands Capability in Robots Experiencing Multi-Joint Failure [PDF] [BIB]

Gilberto Briscoe-Martinez , Anuj Pasricha , Ava Abderezaei , Santosh Chaganti , Sarath Chandra Vajrala , Sri Kanth Popuri , and Alessandro Roncone

AAAI Fall Symposium on Artificial Intelligence and Human-Robot Interaction for Service Robots in Human Environments (AI-HRI 2019)

Arlington, VA, USA

Solving Service Robot Tasks: UT Austin Villa@Home 2019 Team Report [PDF] [BIB]

Rishi Shah , Yuqian Jiang , Haresh Karnan , Gilberto Briscoe-Martinez , Dominick Mulder , Ryan Gupta , Rachel Schlossman , Marika Murphy , Justin Hart , Luis Sentis , and Peter Stone