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07/03/2023
Multi-Predictor Fusion: Combining Learning-based and Rule-based Trajectory Predictors
Trajectory prediction modules are key enablers for safe and efficient pl...
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05/03/2023
Task-Aware Risk Estimation of Perception Failures for Autonomous Vehicles
Safety and performance are key enablers for autonomous driving: on the o...
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03/28/2023
Reactive Gait Composition with Stability: Dynamic Walking amidst Static and Moving Obstacles
This paper presents a modular approach to motion planning with provable ...
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01/08/2023
Real-Time Walking Pattern Generation of Quadrupedal Dynamic-Surface Locomotion based on a Linear Time-Varying Pendulum Model
This study introduces an analytically tractable and computationally effi...
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12/06/2022
Receding Horizon Planning with Rule Hierarchies for Autonomous Vehicles
Autonomous vehicles must often contend with conflicting planning require...
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10/31/2022
Guided Conditional Diffusion for Controllable Traffic Simulation
Controllable and realistic traffic simulation is critical for developing...
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10/06/2022
Learning Autonomous Vehicle Safety Concepts from Demonstrations
Evaluating the safety of an autonomous vehicle (AV) depends on the behav...
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07/25/2022
Task-Relevant Failure Detection for Trajectory Predictors in Autonomous Vehicles
In modern autonomy stacks, prediction modules are paramount to planning ...
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01/31/2022
DRS-LIP: Linear Inverted Pendulum Model for Legged Locomotion on Dynamic Rigid Surfaces
Legged robot locomotion on a dynamic rigid surface (i.e., a rigid surfac...
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11/16/2021
Stronger Generalization Guarantees for Robot Learning by Combining Generative Models and Real-World Data
We are motivated by the problem of learning policies for robotic systems...
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11/16/2021
Learning Provably Robust Motion Planners Using Funnel Libraries
This paper presents an approach for learning motion planners that are ac...
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09/28/2021
Interactive Dynamic Walking: Learning Gait Switching Policies with Generalization Guarantees
In this paper, we consider the problem of adapting a dynamically walking...
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06/25/2021
Task-Driven Out-of-Distribution Detection with Statistical Guarantees for Robot Learning
Our goal is to perform out-of-distribution (OOD) detection, i.e., to det...
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10/24/2020
LagNetViP: A Lagrangian Neural Network for Video Prediction
The dominant paradigms for video prediction rely on opaque transition mo...
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08/05/2020
Generalization Guarantees for Multi-Modal Imitation Learning
Control policies from imitation learning can often fail to generalize to...
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07/16/2020
CoNES: Convex Natural Evolutionary Strategies
We present a novel algorithm – convex natural evolutionary strategies (C...
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02/28/2020
Probably Approximately Correct Vision-Based Planning using Motion Primitives
This paper presents a deep reinforcement learning approach for synthesiz...
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10/01/2018