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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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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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05/18/2023
Semantic Anomaly Detection with Large Language Models
As robots acquire increasingly sophisticated skills and see increasingly...
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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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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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10/20/2022
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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10/06/2022
Learning Autonomous Vehicle Safety Concepts from Demonstrations
Evaluating the safety of an autonomous vehicle (AV) depends on the behav...
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09/21/2022
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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09/14/2022
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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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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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
Second-Order Sensitivity Analysis for Bilevel Optimization
In this work we derive a second-order approach to bilevel optimization, ...
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03/06/2022
A Unified View of SDP-based Neural Network Verification through Completely Positive Programming
Verifying that input-output relationships of a neural network conform to...
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11/11/2021
On the Problem of Reformulating Systems with Uncertain Dynamics as a Stochastic Differential Equation
We identify an issue in recent approaches to learning-based control that...
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09/28/2021
Sample-Efficient Safety Assurances using Conformal Prediction
When deploying machine learning models in high-stakes robotics applicati...
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07/30/2021
Towards the Unification and Data-Driven Synthesis of Autonomous Vehicle Safety Concepts
As safety-critical autonomous vehicles (AVs) will soon become pervasive ...
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12/06/2020
On Infusing Reachability-Based Safety Assurance within Planning Frameworks for Human-Robot Vehicle Interactions
Action anticipation, intent prediction, and proactive behavior are all d...
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08/10/2020
Multimodal Deep Generative Models for Trajectory Prediction: A Conditional Variational Autoencoder Approach
Human behavior prediction models enable robots to anticipate how humans ...
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10/08/2019
Learned Critical Probabilistic Roadmaps for Robotic Motion Planning
Sampling-based motion planning techniques have emerged as an efficient a...
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09/20/2019
Revisiting the Asymptotic Optimality of RRT*
RRT* is one of the most widely used sampling-based algorithms for asympt...
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12/29/2018
On Infusing Reachability-Based Safety Assurance within Probabilistic Planning Frameworks for Human-Robot Vehicle Interactions
Action anticipation, intent prediction, and proactive behavior are all d...
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03/06/2018
Generative Modeling of Multimodal Multi-Human Behavior
This work presents a methodology for modeling and predicting human behav...
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10/25/2017