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06/15/2023
Residual Q-Learning: Offline and Online Policy Customization without Value
Imitation Learning (IL) is a widely used framework for learning imitativ...
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01/27/2023
In-Distribution Barrier Functions: Self-Supervised Policy Filters that Avoid Out-of-Distribution States
Learning-based control approaches have shown great promise in performing...
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10/04/2022
RAP: Risk-Aware Prediction for Robust Planning
Robust planning in interactive scenarios requires predicting the uncerta...
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10/16/2020
RAT iLQR: A Risk Auto-Tuning Controller to Optimally Account for Stochastic Model Mismatch
Successful robotic operation in stochastic environments relies on accura...
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09/12/2020
Risk-Sensitive Sequential Action Control with Multi-Modal Human Trajectory Forecasting for Safe Crowd-Robot Interaction
This paper presents a novel online framework for safe crowd-robot intera...
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02/26/2020