7 papers
GOLEM: Modular Humanoid Autonomy Towards Electric Vehicle Battery Disassembly
Max Conway, William Xie, Allen Devaraj +14
Disassembling end-of-life electric vehicle (EV) battery packs is dull and dangerous work, performed almost entirely by humans. We present GOLEM (Generalized Open Library of Embodie…
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…
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…
Simultaneous AlphaZero: Extending Tree Search to Markov Games
Tyler Becker, Zachary Sunberg
Many strategic planning problems require agents to act simultaneously, making turn-based search unsuitable and requiring a normal form game to be solved at each tree state. We intr…
Rao-Blackwellized POMDP Planning
Jiho Lee, Nisar R. Ahmed, Kyle H. Wray +1
Partially Observable Markov Decision Processes (POMDPs) provide a structured framework for decision-making under uncertainty, but their application requires efficient belief update…
Resolving Multiple-Dynamic Model Uncertainty in Hypothesis-Driven Belief-MDPs
Ofer Dagan, Tyler Becker, Zachary N. Sunberg
When human operators of cyber-physical systems encounter surprising behavior, they often consider multiple hypotheses that might explain it. In some cases, taking information-gathe…