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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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05/15/2022
Sociotechnical Specification for the Broader Impacts of Autonomous Vehicles
Autonomous Vehicles (AVs) will have a transformative impact on society. ...
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04/28/2022
Control-Aware Prediction Objectives for Autonomous Driving
Autonomous vehicle software is typically structured as a modular pipelin...
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01/25/2022
Dynamics-Aware Comparison of Learned Reward Functions
The ability to learn reward functions plays an important role in enablin...
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04/26/2021
Heterogeneous-Agent Trajectory Forecasting Incorporating Class Uncertainty
Reasoning about the future behavior of other agents is critical to safe ...
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04/21/2021
Contingencies from Observations: Tractable Contingency Planning with Learned Behavior Models
Humans have a remarkable ability to make decisions by accurately reasoni...
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04/20/2021
Outcome-Driven Reinforcement Learning via Variational Inference
While reinforcement learning algorithms provide automated acquisition of...
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06/26/2020
Can Autonomous Vehicles Identify, Recover From, and Adapt to Distribution Shifts?
Out-of-training-distribution (OOD) scenarios are a common challenge of l...
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06/18/2020
Learning Invariant Representations for Reinforcement Learning without Reconstruction
We study how representation learning can accelerate reinforcement learni...
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04/23/2020
Model-Based Meta-Reinforcement Learning for Flight with Suspended Payloads
Transporting suspended payloads is challenging for autonomous aerial veh...
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05/31/2019
Extending Deep Model Predictive Control with Safety Augmented Value Estimation from Demonstrations
Reinforcement learning (RL) for robotics is challenging due to the diffi...
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05/03/2019
PRECOG: PREdiction Conditioned On Goals in Visual Multi-Agent Settings
For autonomous vehicles (AVs) to behave appropriately on roads populated...
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12/27/2018
Robustness to Out-of-Distribution Inputs via Task-Aware Generative Uncertainty
Deep learning provides a powerful tool for machine perception when the o...
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10/15/2018
Deep Imitative Models for Flexible Inference, Planning, and Control
Imitation learning provides an appealing framework for autonomous contro...
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05/30/2018
Deep Reinforcement Learning in a Handful of Trials using Probabilistic Dynamics Models
Model-based reinforcement learning (RL) algorithms can attain excellent ...
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02/08/2016