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06/21/2023
Iterated Piecewise Affine (IPA) Approximation for Language Modeling
In this work, we demonstrate the application of a simple first-order Tay...
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05/26/2023
Convex Risk Bounded Continuous-Time Trajectory Planning and Tube Design in Uncertain Nonconvex Environments
In this paper, we address the trajectory planning problem in uncertain n...
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05/10/2023
LACoS-BLOOM: Low-rank Adaptation with Contrastive objective on 8 bits Siamese-BLOOM
Text embeddings are useful features for several NLP applications, such a...
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03/02/2023
Real-Time Tube-Based Non-Gaussian Risk Bounded Motion Planning for Stochastic Nonlinear Systems in Uncertain Environments via Motion Primitives
We consider the motion planning problem for stochastic nonlinear systems...
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03/02/2023
Non-Gaussian Uncertainty Minimization Based Control of Stochastic Nonlinear Robotic Systems
In this paper, we consider the closed-loop control problem of nonlinear ...
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01/31/2023
Chance-Constrained Trajectory Optimization for High-DOF Robots in Uncertain Environments
Many practical applications of robotics require systems that can operate...
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10/03/2022
Multi-Agent Chance-Constrained Stochastic Shortest Path with Application to Risk-Aware Intelligent Intersection
In transportation networks, where traffic lights have traditionally been...
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03/06/2022
Non-Gaussian Risk Bounded Trajectory Optimization for Stochastic Nonlinear Systems in Uncertain Environments
We address the risk bounded trajectory optimization problem of stochasti...
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03/02/2022
Providing Insights for Open-Response Surveys via End-to-End Context-Aware Clustering
Teachers often conduct surveys in order to collect data from a predefine...
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10/01/2021
Real-Time Risk-Bounded Tube-Based Trajectory Safety Verification
In this paper, we address the real-time risk-bounded safety verification...
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08/04/2021
Risk Conditioned Neural Motion Planning
Risk-bounded motion planning is an important yet difficult problem for s...
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06/16/2021
Automatic Curricula via Expert Demonstrations
We propose Automatic Curricula via Expert Demonstrations (ACED), a reinf...
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06/10/2021
Convex Risk Bounded Continuous-Time Trajectory Planning in Uncertain Nonconvex Environments
In this paper, we address the trajectory planning problem in uncertain n...
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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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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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10/15/2020
An Empowerment-based Solution to Robotic Manipulation Tasks with Sparse Rewards
In order to provide adaptive and user-friendly solutions to robotic mani...
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05/27/2020
Fast Risk Assessment for Autonomous Vehicles Using Learned Models of Agent Futures
This paper presents fast non-sampling based methods to assess the risk o...
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04/08/2020
Google COVID-19 Community Mobility Reports: Anonymization Process Description (version 1.0)
This document describes the aggregation and anonymization process applie...
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03/23/2020
Moment State Dynamical Systems for Nonlinear Chance-Constrained Motion Planning
Chance-constrained motion planning requires uncertainty in dynamics to b...
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03/17/2020
Provably Safe Trajectory Optimization in the Presence of Uncertain Convex Obstacles
Real-world environments are inherently uncertain, and to operate safely ...
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03/17/2020
Fast Certification of Collision Probability Bounds with Uncertain Convex Obstacles
To operate reactively in uncertain environments, robots need to be able ...
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02/25/2020
Non-Gaussian Chance-Constrained Trajectory Planning for Autonomous Vehicles in the Presence of Uncertain Agents
Agent behavior is arguably the greatest source of uncertainty in traject...
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04/15/2019
Efficiently Exploring Ordering Problems through Conflict-directed Search
In planning and scheduling, solving problems with both state and tempora...
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01/08/2019
Complexity Bounds for the Controllability of Temporal Networks with Conditions, Disjunctions, and Uncertainty
In temporal planning, many different temporal network formalisms are use...
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11/07/2018
Chance Constrained Motion Planning for High-Dimensional Robots
This paper introduces Probabilistic Chekov (p-Chekov), a chance-constrai...
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11/05/2018
Improving Trajectory Optimization using a Roadmap Framework
We present an evaluation of several representative sampling-based and op...
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02/09/2016
Time Resource Networks
The problem of scheduling under resource constraints is widely applicabl...
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01/18/2014