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08/11/2023
Refining Obstacle Perception Safety Zones via Maneuver-Based Decomposition
A critical task for developing safe autonomous driving stacks is to dete...
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06/10/2023
Language-Guided Traffic Simulation via Scene-Level Diffusion
Realistic and controllable traffic simulation is a core capability that ...
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06/08/2023
Improving Negative-Prompt Inversion via Proximal Guidance
DDIM inversion has revealed the remarkable potential of real image editi...
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03/27/2023
Revisiting Multimodal Representation in Contrastive Learning: From Patch and Token Embeddings to Finite Discrete Tokens
Contrastive learning-based vision-language pre-training approaches, such...
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03/17/2023
Verification and Synthesis of Robust Control Barrier Functions: Multilevel Polynomial Optimization and Semidefinite Relaxation
We study the problem of verification and synthesis of robust control bar...
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03/06/2023
Learning Responsibility Allocations for Safe Human-Robot Interaction with Applications to Autonomous Driving
Drivers have a responsibility to exercise reasonable care to avoid colli...
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01/27/2023
Tree-structured Policy Planning with Learned Behavior Models
Autonomous vehicles (AVs) need to reason about the multimodal behavior o...
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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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08/26/2022
BITS: Bi-level Imitation for Traffic Simulation
Simulation is the key to scaling up validation and verification for robo...
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07/20/2022
Hierarchically Self-Supervised Transformer for Human Skeleton Representation Learning
Despite the success of fully-supervised human skeleton sequence modeling...
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06/24/2022
Interaction-Dynamics-Aware Perception Zones for Obstacle Detection Safety Evaluation
To enable safe autonomous vehicle (AV) operations, it is critical that a...
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06/18/2022
ScePT: Scene-consistent, Policy-based Trajectory Predictions for Planning
Trajectory prediction is a critical functionality of autonomous systems ...
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01/26/2022
Robust Disturbance Rejection for Robotic Bipedal Walking: System-Level-Synthesis with Step-to-step Dynamics Approximation
We present a stepping stabilization control that addresses external push...
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01/12/2022
Onboard Safety Guarantees for Racing Drones: High-speed Geofencing with Control Barrier Functions
This paper details the theory and implementation behind practically ensu...
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11/22/2021
Balancing Efficiency and Comfort in Robot-Assisted Bite Transfer
Robot-assisted feeding in household environments is challenging because ...
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09/10/2021
Interactive multi-modal motion planning with Branch Model Predictive Control
Motion planning for autonomous robots and vehicles in presence of uncont...
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06/24/2021
Density Constrained Reinforcement Learning
We study constrained reinforcement learning (CRL) from a novel perspecti...
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05/20/2021
More Than Just Attention: Learning Cross-Modal Attentions with Contrastive Constraints
Attention mechanisms have been widely applied to cross-modal tasks such ...
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01/14/2021
Learning Safe Multi-Agent Control with Decentralized Neural Barrier Certificates
We study the multi-agent safe control problem where agents should avoid ...
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11/19/2020
Lidar-based exploration and discretization for mobile robot planning
In robotic applications, the control, and actuation deal with a continuo...
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11/19/2020
Decentralized Task and Path Planning for Multi-Robot Systems
We consider a multi-robot system with a team of collaborative robots and...
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11/06/2020
Reactive motion planning with probabilistics safety guarantees
Motion planning in environments with multiple agents is critical to many...
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04/01/2020
Knowledge as Priors: Cross-Modal Knowledge Generalization for Datasets without Superior Knowledge
Cross-modal knowledge distillation deals with transferring knowledge fro...
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03/17/2020
Data-driven Characterization of Human Interaction for Model-based Control of Powered Prostheses
This paper proposes a data-driven method for powered prosthesis control ...
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01/20/2020
Counter-example Guided Learning of Bounds on Environment Behavior
There is a growing interest in building autonomous systems that interact...
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07/20/2019
Construct Dynamic Graphs for Hand Gesture Recognition via Spatial-Temporal Attention
We propose a Dynamic Graph-Based Spatial-Temporal Attention (DG-STA) met...
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07/20/2018