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09/18/2023
Wait, That Feels Familiar: Learning to Extrapolate Human Preferences for Preference Aligned Path Planning
Autonomous mobility tasks such as lastmile delivery require reasoning ab...
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08/21/2023
Decentralized Multi-Robot Social Navigation in Constrained Environments via Game-Theoretic Control Barrier Functions
We present an approach to ensure safe and deadlock-free navigation for d...
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08/18/2023
Learning Reward Machines through Preference Queries over Sequences
Reward machines have shown great promise at capturing non-Markovian rewa...
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06/29/2023
Principles and Guidelines for Evaluating Social Robot Navigation Algorithms
A major challenge to deploying robots widely is navigation in human-popu...
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06/29/2023
Introspective Perception for Mobile Robots
Perception algorithms that provide estimates of their uncertainty are cr...
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06/15/2023
Decentralized Social Navigation with Non-Cooperative Robots via Bi-Level Optimization
This paper presents a fully decentralized approach for realtime non-coop...
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05/04/2023
Program Synthesis for Robot Learning from Demonstrations
This paper presents a new synthesis-based approach for solving the Learn...
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04/22/2023
LLM+P: Empowering Large Language Models with Optimal Planning Proficiency
Large language models (LLMs) have demonstrated remarkable zero-shot gene...
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03/09/2023
SOCIALGYM 2.0: Simulator for Multi-Agent Social Robot Navigation in Shared Human Spaces
We present SocialGym 2, a multi-agent navigation simulator for social ro...
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03/02/2023
PLUNDER: Probabilistic Program Synthesis for Learning from Unlabeled and Noisy Demonstrations
Learning from demonstration (LfD) is a widely researched paradigm for te...
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02/10/2023
Responsible Robotics: A Socio-Ethical Addition To Robotics Courses
We are witnessing a rapid increase in real-world autonomous robotic depl...
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10/24/2022
System Configuration and Navigation of a Guide Dog Robot: Toward Animal Guide Dog-Level Guiding Work
A robot guide dog has compelling advantages over animal guide dogs for i...
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10/15/2022
SOCIALMAPF: Optimal and Efficient Multi-Agent Path Finding with Strategic Agents for Social Navigation
We propose an extension to the MAPF formulation, called SocialMAPF, to a...
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09/21/2022
Teaching Autonomous Systems Hands-On: Leveraging Modular Small-Scale Hardware in the Robotics Classroom
Although robotics courses are well established in higher education, the ...
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08/22/2022
Autonomous Ground Navigation in Highly Constrained Spaces: Lessons learned from The BARN Challenge at ICRA 2022
The BARN (Benchmark Autonomous Robot Navigation) Challenge took place at...
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06/16/2022
High-Speed Accurate Robot Control using Learned Forward Kinodynamics and Non-linear Least Squares Optimization
Accurate control of robots in the real world requires a control system t...
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06/15/2022
State Supervised Steering Function for Sampling-based Kinodynamic Planning
Sampling-based motion planners such as RRT* and BIT*, when applied to ki...
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06/01/2022
Dense Crowd Flow-Informed Path Planning
Both pedestrian and robot comfort are of the highest priority whenever a...
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03/30/2022
VI-IKD: High-Speed Accurate Off-Road Navigation using Learned Visual-Inertial Inverse Kinodynamics
One of the key challenges in high speed off road navigation on ground ve...
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03/28/2022
Socially Compliant Navigation Dataset (SCAND): A Large-Scale Dataset of Demonstrations for Social Navigation
Social navigation is the capability of an autonomous agent, such as a ro...
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03/02/2022
STEADY: Simultaneous State Estimation and Dynamics Learning from Indirect Observations
Accurate kinodynamic models play a crucial role in many robotics applica...
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09/30/2021
Probabilistic Object Maps for Long-Term Robot Localization
Robots deployed in settings such as warehouses and parking lots must cop...
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09/28/2021
Competence-Aware Path Planning via Introspective Perception
Robots deployed in the real world over extended periods of time need to ...
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09/22/2021
SOCIALGYM: A Framework for Benchmarking Social Robot Navigation
Robots moving safely and in a socially compliant manner in dynamic human...
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09/18/2021
Visual Representation Learning for Preference-Aware Path Planning
Autonomous mobile robots deployed in outdoor environments must reason ab...
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04/14/2021
OneVision: Centralized to Distributed Controller Synthesis with Delay Compensation
We propose a new algorithm to simplify the controller development for di...
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03/11/2021
Robofleet: Secure Open Source Communication and Management for Fleets of Autonomous Robots
Safe long-term deployment of a fleet of mobile robots requires reliable ...
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03/08/2021
Iterative Program Synthesis for Adaptable Social Navigation
Robot social navigation is influenced by human preferences and environme...
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02/25/2021
Learning Inverse Kinodynamics for Accurate High-Speed Off-Road Navigation on Unstructured Terrain
This paper presents a learning-based approach to consider the effect of ...
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08/10/2020
Robot Action Selection Learning via Layered Dimension Informed Program Synthesis
Action selection policies (ASPs), used to compose low-level robot skills...
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08/06/2020
IV-SLAM: Introspective Vision for Simultaneous Localization and Mapping
Existing solutions to visual simultaneous localization and mapping (V-SL...
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07/30/2020
Curating Long-term Vector Maps
Autonomous service mobile robots need to consistently, accurately, and r...
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03/17/2020
Learning to Optimize Autonomy in Competence-Aware Systems
Interest in semi-autonomous systems (SAS) is growing rapidly as a paradi...
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01/09/2020
SMT-based Robot Transition Repair
State machines are a common model for robot behaviors. Transition functi...
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09/06/2019
Making High-Performance Robots Safe and Easy to Use for an Introduction to Computing
Robots are a popular platform for introducing computing and artificial i...
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09/06/2019
Automatic Failure Recovery for End-User Programs on Service Mobile Robots
For service mobile robots to be most effective, it must be possible for ...
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03/04/2019
iVOA: Introspective Vision for Obstacle Avoidance
Vision, as an inexpensive yet information rich sensor, is commonly used ...
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11/30/2018
X*: Anytime Multiagent Planning With Bounded Search
Multi-agent planning in dynamic domains is a challenging problem: the si...
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03/04/2018
Localization under Topological Uncertainty for Lane Identification of Autonomous Vehicles
Autonomous vehicles (AVs) require accurate metric and topological locati...
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02/05/2018
Interactive Robot Transition Repair With SMT
Complex robot behaviors are often structured as state machines, where st...
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11/23/2017