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25 papers · 1 filter
Swazure: Swarm Measurement of Pose for Flying Light Specks
Hamed Alimohammadzadeh, Shahram Ghandeharizadeh
One may construct a 3D multimedia display using miniature drones configured with light sources, Flying Light Specks (FLSs). Swarms of FLSs localize to illuminate complex 3D shapes…
Sample-Efficient Expert Query Control in Active Imitation Learning via Conformal Prediction
Arad Firouzkouhi, Omid Mirzaeedodangeh, Lars Lindemann
Active imitation learning (AIL) combats covariate shift by querying an expert during training. However, expert action labeling often dominates the cost, especially in GPU-intensive…
Hamilton-Jacobi Reachability Analysis for Hybrid Systems with Controlled and Forced Transitions
Javier Borquez, Shuang Peng, Yiyu Chen +2
Hybrid dynamical systems with nonlinear dynamics are one of the most general modeling tools for representing robotic systems, especially contact-rich systems. However, providing gu…
Multi-Robot Coordination and Layout Design for Automated Warehousing
Yulun Zhang, Matthew C. Fontaine, Varun Bhatt +2
With the rapid progress in Multi-Agent Path Finding (MAPF), researchers have studied how MAPF algorithms can be deployed to coordinate hundreds of robots in large automated warehou…
Parameter-Conditioned Reachable Sets for Updating Safety Assurances Online
Javier Borquez, Kensuke Nakamura, Somil Bansal
Hamilton-Jacobi (HJ) reachability analysis is a powerful tool for analyzing the safety of autonomous systems. However, the provided safety assurances are often predicated on the as…
From Machine Learning to Robotics: Challenges and Opportunities for Embodied Intelligence
Nicholas Roy, Ingmar Posner, Tim Barfoot +17
Machine learning has long since become a keystone technology, accelerating science and applications in a broad range of domains. Consequently, the notion of applying learning metho…