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09/16/2023
Neural Network-based Fault Detection and Identification for Quadrotors using Dynamic Symmetry
Autonomous robotic systems, such as quadrotors, are susceptible to actua...
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09/14/2023
A Bayesian approach to breaking things: efficiently predicting and repairing failure modes via sampling
Before autonomous systems can be deployed in safety-critical application...
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09/10/2023
Signal Temporal Logic Neural Predictive Control
Ensuring safety and meeting temporal specifications are critical challen...
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05/23/2023
Solving Stabilize-Avoid Optimal Control via Epigraph Form and Deep Reinforcement Learning
Tasks for autonomous robotic systems commonly require stabilization to a...
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03/18/2023
Hybrid Systems Neural Control with Region-of-Attraction Planner
Hybrid systems are prevalent in robotics. However, ensuring the stabilit...
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03/07/2023
ConBaT: Control Barrier Transformer for Safe Policy Learning
Large-scale self-supervised models have recently revolutionized our abil...
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02/23/2023
Shield Model Predictive Path Integral: A Computationally Efficient Robust MPC Approach Using Control Barrier Functions
Model Predictive Path Integral (MPPI) control is a type of sampling-base...
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10/16/2022
Learning-based Motion Planning in Dynamic Environments Using GNNs and Temporal Encoding
Learning-based methods have shown promising performance for accelerating...
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10/05/2022
Density Planner: Minimizing Collision Risk in Motion Planning with Dynamic Obstacles using Density-based Reachability
Autonomous systems with uncertainties are prevalent in robotics. However...
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09/25/2022
Enforcing safety for vision-based controllers via Control Barrier Functions and Neural Radiance Fields
To navigate complex environments, robots must increasingly use high-dime...
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09/16/2022
Case Studies for Computing Density of Reachable States for Safe Autonomous Motion Planning
Density of the reachable states can help understand the risk of safety-c...
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04/22/2022
Certifiable Robot Design Optimization using Differentiable Programming
There is a growing need for computational tools to automatically design ...
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03/04/2022
Cooperative Task and Motion Planning for Multi-Arm Assembly Systems
Multi-robot assembly systems are becoming increasingly appealing in manu...
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03/03/2022
Robust Counterexample-guided Optimization for Planning from Differentiable Temporal Logic
Signal temporal logic (STL) provides a powerful, flexible framework for ...
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02/23/2022
Safe Control with Learned Certificates: A Survey of Neural Lyapunov, Barrier, and Contraction methods
Learning-enabled control systems have demonstrated impressive empirical ...
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01/13/2022
Multi-agent Motion Planning from Signal Temporal Logic Specifications
We tackle the challenging problem of multi-agent cooperative motion plan...
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01/06/2022
SABLAS: Learning Safe Control for Black-box Dynamical Systems
Control certificates based on barrier functions have been a powerful too...
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01/04/2022
Learning Safe, Generalizable Perception-based Hybrid Control with Certificates
Many robotic tasks require high-dimensional sensors such as cameras and ...
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10/02/2021
A Theoretical Overview of Neural Contraction Metrics for Learning-based Control with Guaranteed Stability
This paper presents a theoretical overview of a Neural Contraction Metri...
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09/14/2021
Learning Density Distribution of Reachable States for Autonomous Systems
State density distribution, in contrast to worst-case reachability, can ...
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09/14/2021
Safe Nonlinear Control Using Robust Neural Lyapunov-Barrier Functions
Safety and stability are common requirements for robotic control systems...
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09/14/2021
Reactive and Safe Road User Simulations using Neural Barrier Certificates
Reactive and safe agent modelings are important for nowadays traffic sim...
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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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05/13/2021
Uncertainty-aware Safe Exploratory Planning using Gaussian Process and Neural Control Contraction Metric
In this paper, we consider the problem of using a robot to explore an en...
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02/16/2021
Optimal Mixed Discrete-Continuous Planning for Linear Hybrid Systems
Planning in hybrid systems with both discrete and continuous control var...
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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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12/16/2020
Scalable and Safe Multi-Agent Motion Planning with Nonlinear Dynamics and Bounded Disturbances
We present a scalable and effective multi-agent safe motion planner that...
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11/25/2020
Learning Certified Control using Contraction Metric
In this paper, we solve the problem of finding a certified control polic...
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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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11/01/2019
Multi-Agent Safety Verification using Symmetry Transformations
We show that symmetry transformations and caching can enable scalable, a...
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06/12/2019
Partial Or Complete, That's The Question
For many structured learning tasks, the data annotation process is compl...
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04/18/2018