8 papers
Beyond Fixed Goal Delivery: Online POMDP Planning for Target Interception in Crowds
Himanshu Gupta, Kelvin Aladum, Nisar Ahmed +2
Target interception in crowded environments requires reaching a moving objective while navigating among multiple uncertain human agents. Since human navigation intent is not direct…
Environment Design for Reliable Shared Autonomy with Probabilistic Guarantees
Yi-Shiuan Tung, Himanshu Gupta, Gyanig Kumar +3
Shared autonomy enables humans and robots to collaboratively perform tasks by combining human input with autonomous assistance. Most prior work focuses on improving intent inferenc…
Risk-Aware Preference Learning for Stochastic Outcomes
Yi-Shiuan Tung, Yuni Wu, Wei Jiang +2
Learning reward functions from human preferences is a widely used approach for aligning robot behavior with user expectations in human-robot interaction. Most existing approaches a…
ShelfAware: Real-Time Semantic Localization in Quasi-Static Environments with Low-Cost Sensors
Shivendra Agrawal, Jake Brawer, Ashutosh Naik +2
Many indoor workspaces are quasi-static: their global geometric layout is stable, but local semantics change continually, producing repetitive geometry, dynamic clutter, and percep…
Efficient Multi-Robot Motion Planning with Precomputed Translation-Invariant Edge Bundles
Himanshu Gupta, Paul Motter, Aritra Chakrabarty +5
Solving multi-robot motion planning (MRMP) requires generating collision-free kinodynamically feasible trajectories for multiple interacting robots. We introduce Kinodynamic Transl…
CRED: Counterfactual Reasoning and Environment Design for Active Preference Learning
Yi-Shiuan Tung, Gyanig Kumar, Wei Jiang +2
As a robot's operational environment and tasks to perform within it grow in complexity, the explicit specification and balancing of optimization objectives to achieve a preferred b…