Publications (56)
Anomalies by Synthesis: Anomaly Detection using Generative Diffusion Models for Off-Road Navigation
Siddharth Ancha, Sunshine Jiang, Travis Manderson +4
Near-optimal irrevocable sample selection for periodic data streams with applications to marine robotics
Genevieve Flaspohler, Nicholas Roy, Yogesh Girdhar
Semi-Supervised Neural Processes for Articulated Object Interactions
Emily Liu, Michael Noseworthy, Nicholas Roy
Leveraging Semantic Maps for City-Scale Cross-View Localization
Ethan Fahnestock, Erick Fuentes, Philip R Osteen +1
CORL: A Continuous-state Offset-dynamics Reinforcement Learner
Emma Brunskill, Bethany Leffler, Lihong Li +2
Temporal Grounding Graphs for Language Understanding with Accrued Visual-Linguistic Context
Rohan Paul, Andrei Barbu, Sue Felshin +2
Online Descriptor Enhancement via Self-Labelling Triplets for Visual Data Association
Yorai Shaoul, Katherine Liu, Kyel Ok +1
Autonomous Search for Sparsely Distributed Visual Phenomena through Environmental Context Modeling
Eric Chen, Travis Manderson, Nare Karapetyan +3
Active Learning of Abstract Plan Feasibility
Michael Noseworthy, Caris Moses, Isaiah Brand +4
Learning and Planning for Temporally Extended Tasks in Unknown Environments
Christopher Bradley, Adam Pacheck, Gregory J. Stein +3
Efficient Planning under Uncertainty with Macro-actions
Ruijie He, Emma Brunskill, Nicholas Roy
Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs
Jared Strader, Aaron Ray, Jacob Arkin +11
Structured Latent Variable Models for Articulated Object Interaction
Emily Liu, Michael Noseworthy, Nicholas Roy
How to Train Your Neural Control Barrier Function: Learning Safety Filters for Complex Input-Constrained Systems
Oswin So, Zachary Serlin, Makai Mann +4
Modelling Observation Correlations for Active Exploration and Robust Object Detection
Javier Velez, Garrett Hemann, Albert S. Huang +2
RDAR: Reward-Driven Agent Relevance Estimation for Autonomous Driving
Carlo Bosio, Greg Woelki, Noureldin Hendy +2
PIETRA: Physics-Informed Evidential Learning for Traversing Out-of-Distribution Terrain
Xiaoyi Cai, James Queeney, Tong Xu +8
Impacts of EPA's Finalized Power Plant Greenhouse Gas Standards
John Bistline, Aaron Bergman, Geoffrey Blanford +23
EVORA: Deep Evidential Traversability Learning for Risk-Aware Off-Road Autonomy
Xiaoyi Cai, Siddharth Ancha, Lakshay Sharma +7
Convex Iteration for Distance-Geometric Inverse Kinematics
Matthew Giamou, Filip MariÄ, David M. Rosen +4
GeneSIS-RT: Generating Synthetic Images for training Secondary Real-world Tasks
Gregory J. Stein, Nicholas Roy
PROBE-GK: Predictive Robust Estimation using Generalized Kernels
Valentin Peretroukhin, William Vega-Brown, Nicholas Roy +1
Task and Motion Planning in Hierarchical 3D Scene Graphs
Aaron Ray, Christopher Bradley, Luca Carlone +1
Scenario Diffusion: Controllable Driving Scenario Generation With Diffusion
Ethan Pronovost, Meghana Reddy Ganesina, Noureldin Hendy +4
From Machine Learning to Robotics: Challenges and Opportunities for Embodied Intelligence
Nicholas Roy, Ingmar Posner, Tim Barfoot +17
FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation under Uncertainty
Michael Noseworthy, Bingjie Tang, Bowen Wen +7
AutoTAMP: Autoregressive Task and Motion Planning with LLMs as Translators and Checkers
Yongchao Chen, Jacob Arkin, Charles Dawson +3
Enabling Topological Planning with Monocular Vision
Gregory J. Stein, Christopher Bradley, Victoria Preston +1
Language Understanding for Field and Service Robots in a Priori Unknown Environments
Matthew R. Walter, Siddharth Patki, Andrea F. Daniele +7
Reactive Task and Motion Planning under Temporal Logic Specifications
Shen Li, Daehyung Park, Yoonchang Sung +2
Linear Memory SE(2) Invariant Attention
Ethan Pronovost, Neha Boloor, Peter Schleede +3
Scaling Is All You Need: Autonomous Driving with JAX-Accelerated Reinforcement Learning
Moritz Harmel, Anubhav Paras, Andreas Pasternak +2
Visual Prediction of Priors for Articulated Object Interaction
Caris Moses, Michael Noseworthy, Leslie Pack Kaelbling +2
Learning Attentive Neural Processes for Planning with Pushing Actions
Atharv Jain, Seiji Shaw, Nicholas Roy
Structured Interfaces for Automated Reasoning with 3D Scene Graphs
Aaron Ray, Jacob Arkin, Harel Biggie +3
Admissible Abstractions for Near-optimal Task and Motion Planning
William Vega-Brown, Nicholas Roy
Batch-iFDD for Representation Expansion in Large MDPs
Alborz Geramifard, Thomas J. Walsh, Nicholas Roy +1
Real-World Deployment of a Hierarchical Uncertainty-Aware Collaborative Multiagent Planning System
Martina Stadler Kurtz, Samuel Prentice, Yasmin Veys +5
Belief Consistency Between Foundation-Model Evidence and Geometric Perception in Persistent Robotic Maps
Christoffer Heckman, Harel Biggie, Brendan Crowe +1
Learning Models for Following Natural Language Directions in Unknown Environments
Sachithra Hemachandra, Felix Duvallet, Thomas M. Howard +3
Structural Return Maximization for Reinforcement Learning
Joshua Joseph, Javier Velez, Nicholas Roy
Belief Roadmaps with Uncertain Landmark Evanescence
Erick Fuentes, Jared Strader, Ethan Fahnestock +1
Toward Learning POMDPs Beyond Full-Rank Actions and State Observability
Seiji Shaw, Travis Manderson, Chad Kessens +1
Feature discovery and visualization of robot mission data using convolutional autoencoders and Bayesian nonparametric topic models
Genevieve Flaspohler, Nicholas Roy, Yogesh Girdhar
A Smooth Representation of Belief over SO(3) for Deep Rotation Learning with Uncertainty
Valentin Peretroukhin, Matthew Giamou, David M. Rosen +3
Information-Guided Robotic Maximum Seek-and-Sample in Partially Observable Continuous Environments
Genevieve Flaspohler, Victoria Preston, Anna P. M. Michel +2
Technical Report: A Hierarchical Deliberative-Reactive System Architecture for Task and Motion Planning in Partially Known Environments
Vasileios Vasilopoulos, Sebastian Castro, William Vega-Brown +2
Robotic Planning under Uncertainty in Spatiotemporal Environments in Expeditionary Science
Victoria Preston, Genevieve Flaspohler, Anna P. M. Michel +2
Towards Practical Finite Sample Bounds for Motion Planning in TAMP
Seiji Shaw, Aidan Curtis, Leslie Pack Kaelbling +2
Search and Rescue under the Forest Canopy using Multiple UAVs
Yulun Tian, Katherine Liu, Kyel Ok +4
Technical Report: Sensor-Based Reactive Symbolic Planning in Partially Known Environments
Vasileios Vasilopoulos, William Vega-Brown, Omur Arslan +2
Scalable Multi-Robot Collaboration with Large Language Models: Centralized or Decentralized Systems?
Yongchao Chen, Jacob Arkin, Yang Zhang +2
Emissions and Energy Impacts of the Inflation Reduction Act
John Bistline, Geoffrey Blanford, Maxwell Brown +29
Streaming Flow Policy: Simplifying diffusion/flow-matching policies by treating action trajectories as flow trajectories
Sunshine Jiang, Xiaolin Fang, Nicholas Roy +3
Generalized Grounding Graphs: A Probabilistic Framework for Understanding Grounded Commands
Thomas Kollar, Stefanie Tellex, Matthew Walter +8
PRompt Optimization in Multi-Step Tasks (PROMST): Integrating Human Feedback and Heuristic-based Sampling
Yongchao Chen, Jacob Arkin, Yilun Hao +3