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09/20/2023
Simulation-aided Learning from Demonstration for Robotic LEGO Construction
Recent advancements in manufacturing have a growing demand for fast, aut...
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09/05/2023
A Lightweight and Transferable Design for Robust LEGO Manipulation
LEGO is a well-known platform for prototyping pixelized objects. However...
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08/25/2023
Learn With Imagination: Safe Set Guided State-wise Constrained Policy Optimization
Deep reinforcement learning (RL) excels in various control tasks, yet th...
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08/20/2023
Robotic Planning under Hierarchical Temporal Logic Specifications
Past research into robotic planning with temporal logic specifications, ...
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08/06/2023
Customizing Textile and Tactile Skins for Interactive Industrial Robots
Tactile skins made from textiles enhance robot-human interaction by loca...
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07/30/2023
Interactive Car-Following: Matters but NOT Always
Following a leading vehicle is a daily but challenging task because it r...
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06/21/2023
State-wise Constrained Policy Optimization
Reinforcement Learning (RL) algorithms have shown tremendous success in ...
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06/20/2023
Proactive Human-Robot Co-Assembly: Leveraging Human Intention Prediction and Robust Safe Control
Human-robot collaboration (HRC) is one key component to achieving flexib...
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05/25/2023
Robotic LEGO Assembly and Disassembly from Human Demonstration
This paper studies automatic prototyping using LEGO. To satisfy individu...
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05/23/2023
GUARD: A Safe Reinforcement Learning Benchmark
Due to the trial-and-error nature, it is typically challenging to apply ...
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04/18/2023
Hybrid Task Constrained Planner for Robot Manipulator in Confined Environment
Trajectory generation in confined environment is crucial for wide adopti...
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04/12/2023
Robust and Context-Aware Real-Time Collaborative Robot Handling via Dynamic Gesture Commands
This paper studies real-time collaborative robot (cobot) handling, where...
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03/24/2023
Safe and Sample-efficient Reinforcement Learning for Clustered Dynamic Environments
This study proposes a safe and sample-efficient reinforcement learning (...
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03/17/2023
Zero-shot Transferable and Persistently Feasible Safe Control for High Dimensional Systems by Consistent Abstraction
Safety is critical in robotic tasks. Energy function based methods have ...
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02/06/2023
State-wise Safe Reinforcement Learning: A Survey
Despite the tremendous success of Reinforcement Learning (RL) algorithms...
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02/05/2023
Space-Time Conflict Spheres for Constrained Multi-Agent Motion Planning
Multi-agent motion planning (MAMP) is a critical challenge in applicatio...
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01/24/2023
AutoCost: Evolving Intrinsic Cost for Zero-violation Reinforcement Learning
Safety is a critical hurdle that limits the application of deep reinforc...
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01/14/2023
First Three Years of the International Verification of Neural Networks Competition (VNN-COMP)
This paper presents a summary and meta-analysis of the first three itera...
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01/09/2023
Distributed Multirobot Control for Non-Cooperative Herding
In this paper, we consider the problem of protecting a high-value area f...
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12/20/2022
The Third International Verification of Neural Networks Competition (VNN-COMP 2022): Summary and Results
This report summarizes the 3rd International Verification of Neural Netw...
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11/20/2022
Safe Control Under Input Limits with Neural Control Barrier Functions
We propose new methods to synthesize control barrier function (CBF)-base...
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10/03/2022
Probabilistic Safeguard for Reinforcement Learning Using Safety Index Guided Gaussian Process Models
Safety is one of the biggest concerns to applying reinforcement learning...
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09/20/2022
Task-Agnostic Adaptation for Safe Human-Robot Handover
Human-robot interaction (HRI) is an important component to improve the f...
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09/19/2022
Safety Index Synthesis via Sum-of-Squares Programming
Control systems often need to satisfy strict safety requirements. Safety...
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09/14/2022
Robust Safe Control for Uncertain Dynamic Models
Model mismatches prevail in real-world applications. Hence it is importa...
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09/09/2022
General Place Recognition Survey: Towards the Real-world Autonomy Age
Place recognition is the fundamental module that can assist Simultaneous...
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08/30/2022
BioSLAM: A Bio-inspired Lifelong Memory System for General Place Recognition
We present BioSLAM, a lifelong SLAM framework for learning various new a...
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08/25/2022
Control Barrier Functions-based Semi-Definite Programs (CBF-SDPs): Robust Safe Control For Dynamic Systems with Relative Degree Two Safety Indices
In this draft article, we consider the problem of achieving safe control...
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08/16/2022
Social Interactions for Autonomous Driving: A Review and Perspective
No human drives a car in a vacuum; she/he must negotiate with other road...
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08/01/2022
Safe and Efficient Exploration of Human Models During Human-Robot Interaction
Many collaborative human-robot tasks require the robot to stay safe and ...
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07/08/2022
Efficient Game-Theoretic Planning with Prediction Heuristic for Socially-Compliant Autonomous Driving
Planning under social interactions with other agents is an essential pro...
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06/05/2022
ARC – Actor Residual Critic for Adversarial Imitation Learning
Adversarial Imitation Learning (AIL) is a class of popular state-of-the-...
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06/03/2022
The Before, During, and After of Multi-Robot Deadlock
Collision avoidance for multirobot systems is a well-studied problem. Re...
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04/22/2022
Noncooperative Herding With Control Barrier Functions: Theory and Experiments
In this paper, we consider the problem of protecting a high-value unit f...
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04/17/2022
Robust Task Planning for Assembly Lines with Human-Robot Collaboration
Efficient and robust task planning for a human-robot collaboration (HRC)...
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04/06/2022
Safe Interactive Industrial Robots using Jerk-based Safe Set Algorithm
The need to increase the flexibility of production lines is calling for ...
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03/23/2022
An Optical Controlling Environment and Reinforcement Learning Benchmarks
Deep reinforcement learning has the potential to address various scienti...
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03/09/2022
Learning from Physical Human Feedback: An Object-Centric One-Shot Adaptation Method
For robots to be effectively deployed in novel environments and tasks, t...
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03/06/2022
A Composable Framework for Policy Design, Learning, and Transfer Toward Safe and Efficient Industrial Insertion
Delicate industrial insertion tasks (e.g., PC board assembly) remain cha...
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02/10/2022
Transferable and Adaptable Driving Behavior Prediction
While autonomous vehicles still struggle to solve challenging situations...
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12/11/2021
Learn from Human Teams: a Probabilistic Solution to Real-Time Collaborative Robot Handling with Dynamic Gesture Commands
We study real-time collaborative robot (cobot) handling, where the cobot...
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12/09/2021
Online Adaptation of Neural Network Models by Modified Extended Kalman Filter for Customizable and Transferable Driving Behavior Prediction
High fidelity behavior prediction of human drivers is crucial for effici...
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11/25/2021
Learn Zero-Constraint-Violation Policy in Model-Free Constrained Reinforcement Learning
In the trial-and-error mechanism of reinforcement learning (RL), a notor...
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11/15/2021
Joint Synthesis of Safety Certificate and Safe Control Policy using Constrained Reinforcement Learning
Safety is the major consideration in controlling complex dynamical syste...
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11/01/2021
Hierarchical Adaptable and Transferable Networks (HATN) for Driving Behavior Prediction
When autonomous vehicles still struggle to solve challenging situations ...
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10/03/2021
Safe Control with Neural Network Dynamic Models
Safety is critical in autonomous robotic systems. A safe control law ens...
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08/31/2021
The Second International Verification of Neural Networks Competition (VNN-COMP 2021): Summary and Results
This report summarizes the second International Verification of Neural N...
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08/16/2021
IADA: Iterative Adversarial Data Augmentation Using Formal Verification and Expert Guidance
Neural networks (NNs) are widely used for classification tasks for their...
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08/14/2021
A Microscopic Pandemic Simulator for Pandemic Prediction Using Scalable Million-Agent Reinforcement Learning
Microscopic epidemic models are powerful tools for government policy mak...
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08/04/2021
