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09/15/2023
Closing the Loop on Runtime Monitors with Fallback-Safe MPC
When we rely on deep-learned models for robotic perception, we must reco...
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09/11/2023
Robust Nonlinear Reduced-Order Model Predictive Control
Real-world systems are often characterized by high-dimensional nonlinear...
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09/01/2023
Reinforcement Learning with Human Feedback for Realistic Traffic Simulation
In light of the challenges and costs of real-world testing, autonomous v...
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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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07/26/2023
trajdata: A Unified Interface to Multiple Human Trajectory Datasets
The field of trajectory forecasting has grown significantly in recent ye...
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07/16/2023
Language Conditioned Traffic Generation
Simulation forms the backbone of modern self-driving development. Simula...
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07/06/2023
Risk-Averse Trajectory Optimization via Sample Average Approximation
Trajectory optimization under uncertainty underpins a wide range of appl...
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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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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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05/18/2023
Bayesian Reparameterization of Reward-Conditioned Reinforcement Learning with Energy-based Models
Recently, reward-conditioned reinforcement learning (RCRL) has gained po...
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05/18/2023
Semantic Anomaly Detection with Large Language Models
As robots acquire increasingly sophisticated skills and see increasingly...
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05/16/2023
Graph Reinforcement Learning for Network Control via Bi-Level Optimization
Optimization problems over dynamic networks have been extensively studie...
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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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03/30/2023
Exact Characterization of the Convex Hulls of Reachable Sets
We study the convex hulls of reachable sets of nonlinear systems with bo...
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03/22/2023
Object Pose Estimation with Statistical Guarantees: Conformal Keypoint Detection and Geometric Uncertainty Propagation
The two-stage object pose estimation paradigm first detects semantic key...
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03/21/2023
Text2Motion: From Natural Language Instructions to Feasible Plans
We propose Text2Motion, a language-based planning framework enabling rob...
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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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03/13/2023
FreeNeRF: Improving Few-shot Neural Rendering with Free Frequency Regularization
Novel view synthesis with sparse inputs is a challenging problem for neu...
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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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02/27/2023
Estimating the Convex Hull of the Image of a Set with Smooth Boundary: Error Bounds and Applications
We study the problem of estimating the convex hull of the image f(X)⊂ℝ^n...
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02/06/2023
Learning Control-Oriented Dynamical Structure from Data
Even for known nonlinear dynamical systems, feedback controller synthesi...
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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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12/28/2022
A System-Level View on Out-of-Distribution Data in Robotics
When testing conditions differ from those represented in training data, ...
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12/14/2022
Hybrid Multi-agent Deep Reinforcement Learning for Autonomous Mobility on Demand Systems
We consider the sequential decision-making problem of making proactive r...
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12/13/2022
DiffStack: A Differentiable and Modular Control Stack for Autonomous Vehicles
Autonomous vehicle (AV) stacks are typically built in a modular fashion,...
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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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12/02/2022
Adaptive Robust Model Predictive Control via Uncertainty Cancellation
We propose a learning-based robust predictive control algorithm that com...
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11/17/2022
Online Distribution Shift Detection via Recency Prediction
When deploying modern machine learning-enabled robotic systems in high-s...
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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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10/28/2022
Credit-Based Congestion Pricing: Equilibrium Properties and Optimal Scheme Design
Credit-based congestion pricing (CBCP) has emerged as a mechanism to all...
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10/26/2022
Planning with Occluded Traffic Agents using Bi-Level Variational Occlusion Models
Reasoning with occluded traffic agents is a significant open challenge f...
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10/20/2022
Designing ReachBot: System Design Process with a Case Study of a Martian Lava Tube Mission
In this paper we present a trade study-based method to optimize the arch...
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10/11/2022
Robust and Controllable Object-Centric Learning through Energy-based Models
Humans are remarkably good at understanding and reasoning about complex ...
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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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09/23/2022
Expanding the Deployment Envelope of Behavior Prediction via Adaptive Meta-Learning
Learning-based behavior prediction methods are increasingly being deploy...
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09/21/2022
Motion Planning for a Climbing Robot with Stochastic Grasps
Motion planning for a multi-limbed climbing robot must consider the robo...
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09/19/2022
AdvDO: Realistic Adversarial Attacks for Trajectory Prediction
Trajectory prediction is essential for autonomous vehicles (AVs) to plan...
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09/14/2022
Data Lifecycle Management in Evolving Input Distributions for Learning-based Aerospace Applications
As input distributions evolve over a mission lifetime, maintaining perfo...
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09/14/2022
Using Spectral Submanifolds for Nonlinear Periodic Control
Very high dimensional nonlinear systems arise in many engineering proble...
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09/13/2022
Data-Driven Spectral Submanifold Reduction for Nonlinear Optimal Control of High-Dimensional Robots
Modeling and control of high-dimensional, nonlinear robotic systems rema...
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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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07/29/2022
Robust Trajectory Prediction against Adversarial Attacks
Trajectory prediction using deep neural networks (DNNs) is an essential ...
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07/27/2022
Copositive programming for mixed-binary quadratic optimization via Ising solvers
Recent years have seen significant advances in quantum/quantum-inspired ...
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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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07/21/2022
Learning Deep SDF Maps Online for Robot Navigation and Exploration
We propose an algorithm to (i) learn online a deep signed distance funct...
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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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06/20/2022
Sample Average Approximation for Stochastic Programming with Equality Constraints
We revisit the sample average approximation (SAA) approach for general n...
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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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05/16/2022
Robust-RRT: Probabilistically-Complete Motion Planning for Uncertain Nonlinear Systems
Robust motion planning entails computing a global motion plan that is sa...
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05/04/2022