Sunan Sun

I am a research assistant at the General Robotics, Automation, Sensing & Perception (GRASP) laboratory, University of Pennsylvania , advised by Prof. Nadia Figueroa. My research focuses on designing safe and efficient robotic control in human-centric environments. I am interested in combining learning-based methods with classic control theory to leverage the strengths of different approaches.

Previously, I received my M.S. in Robotics from Penn and B.S. in Mechanical Engineering from Union College, NY.

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Research
prl SE (3) Linear Parameter Varying Dynamical Systems for Globally Asymptotically Stable End-Effector Control
Sunan Sun, Nadia Figueroa
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
paper / code

A novel statistical model that leverages the intrinsic statistics on Riemannian manifolds to incorporate orientation for stable robotic control.
prl Directionality-Aware Mixture Model Parallel Sampling for Efficient Linear Parameter Varying Dynamical System Learning
Sunan Sun, Haihui Gao, Tianyu Li, Nadia Figueroa
IEEE Robotics and Automation Letters (RA-L), May 2024
paper / code

An efficient Learning from Demonstration (LfD) framework that encodes trajectory data into stable, time-invariant dynamical systems for reactive robotic control.

Service

IEEE Robotics and Automation Letters (RA-L) Reviewer


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