Jaime F. Fisac | DeepAI

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∙ 09/03/2023

Learning-Aware Safety for Interactive Autonomy

One of the outstanding challenges for the widespread deployment of robot...

0 Haimin Hu, et al. ∙

∙ 07/01/2023

Fast, Smooth, and Safe: Implicit Control Barrier Functions through Reach-Avoid Differential Dynamic Programming

Safety is a central requirement for autonomous system operation across d...

0 Athindran Ramesh Kumar, et al. ∙

∙ 02/01/2023

Active Uncertainty Reduction for Safe and Efficient Interaction Planning: A Shielding-Aware Dual Control Approach

The ability to accurately predict the opponent's behavior is central to ...

0 Haimin Hu, et al. ∙

∙ 02/15/2022

Active Uncertainty Learning for Human-Robot Interaction: An Implicit Dual Control Approach

Predictive models are effective in reasoning about human motion, a cruci...

0 Haimin Hu, et al. ∙

∙ 01/20/2022

Sim-to-Lab-to-Real: Safe Reinforcement Learning with Shielding and Generalization Guarantees

Safety is a critical component of autonomous systems and remains a chall...

4 Kai-Chieh Hsu, et al. ∙

∙ 12/23/2021

Safety and Liveness Guarantees through Reach-Avoid Reinforcement Learning

Reach-avoid optimal control problems, in which the system must reach cer...

0 Kai-Chieh Hsu, et al. ∙

∙ 12/22/2021

ProBF: Learning Probabilistic Safety Certificates with Barrier Functions

Safety-critical applications require controllers/policies that can guara...

12 Athindran Ramesh Kumar, et al. ∙

∙ 10/02/2021

SHARP: Shielding-Aware Robust Planning for Safe and Efficient Human-Robot Interaction

Jointly achieving safety and efficiency in human-robot interaction (HRI)...

0 Haimin Hu, et al. ∙

∙ 09/16/2021

Back to the Future: Efficient, Time-Consistent Solutions in Reach-Avoid Games

We study the class of reach-avoid dynamic games in which multiple agents...

0 Dennis R. Anthony, et al. ∙

∙ 05/17/2021

Safe Occlusion-aware Autonomous Driving via Game-Theoretic Active Perception

Autonomous vehicles interacting with other traffic participants heavily ...

0 Zixu Zhang, et al. ∙

∙ 02/14/2021

FaSTrack: a Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking

Real-time, guaranteed safe trajectory planning is vital for navigation i...

0 Mo Chen, et al. ∙

∙ 02/03/2020

Quantifying Hypothesis Space Misspecification in Learning from Human-Robot Demonstrations and Physical Corrections

Human input has enabled autonomous systems to improve their capabilities...

0 Andreea Bobu, et al. ∙

∙ 01/13/2020

LESS is More: Rethinking Probabilistic Models of Human Behavior

Robots need models of human behavior for both inferring human goals and ...

45 Andreea Bobu, et al. ∙

∙ 11/19/2018

Safe and Complete Real-Time Planning and Exploration in Unknown Environments

We present a new framework for motion planning that wraps around existin...

0 David Fridovich-Keil, et al. ∙

∙ 11/14/2018

A Scalable Framework For Real-Time Multi-Robot, Multi-Human Collision Avoidance

Robust motion planning is a well-studied problem in the robotics literat...

0 Andrea Bajcsy, et al. ∙

∙ 10/13/2018

Hierarchical Game-Theoretic Planning for Autonomous Vehicles

The actions of an autonomous vehicle on the road affect and are affected...

0 Jaime F. Fisac, et al. ∙

∙ 10/11/2018

Learning under Misspecified Objective Spaces

Learning robot objective functions from human input has become increasin...

0 Andreea Bobu, et al. ∙

∙ 09/03/2018

A Minimum Discounted Reward Hamilton-Jacobi Formulation for Computing Reachable Sets

We propose a novel formulation for approximating reachable sets through ...

0 Anayo K. Akametalu, et al. ∙

∙ 06/11/2018

An Efficient, Generalized Bellman Update For Cooperative Inverse Reinforcement Learning

Our goal is for AI systems to correctly identify and act according to th...

0 Dhruv Malik, et al. ∙

∙ 05/31/2018

Probabilistically Safe Robot Planning with Confidence-Based Human Predictions

In order to safely operate around humans, robots can employ predictive m...

0 Jaime F. Fisac, et al. ∙

∙ 02/14/2018

Generating Plans that Predict Themselves

Collaboration requires coordination, and we coordinate by anticipating o...

0 Jaime F. Fisac, et al. ∙

∙ 02/06/2018

Goal Inference Improves Objective and Perceived Performance in Human-Robot Collaboration

The study of human-robot interaction is fundamental to the design and us...

0 Chang Liu, et al. ∙

∙ 10/12/2017

Planning, Fast and Slow: A Framework for Adaptive Real-Time Safe Trajectory Planning

Motion planning is an extremely well-studied problem in the robotics com...

0 David Fridovich-Keil, et al. ∙

∙ 07/20/2017

Pragmatic-Pedagogic Value Alignment

For an autonomous system to provide value (e.g., to customers, designers...

0 Jaime F. Fisac, et al. ∙

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