From the 1 of 9 linked papers with an AI index.
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Bellman Value Decomposition for Task Logic in Safe Optimal Control
William Sharpless, Oswin So, Dylan Hirsch +2
Real-world tasks involve nuanced combinations of goal and safety specifications. In high dimensions, the challenge is exacerbated: formal automata become cumbersome, and the combin…
Safe Stochastic Explorer: Enabling Safe Goal Driven Exploration in Stochastic Environments and Safe Interaction with Unknown Objects
Nikhil Uday Shinde, Dylan Hirsch, Michael C. Yip +1
Autonomous robots operating in unstructured, safety-critical environments, from planetary exploration to warehouses and homes, must learn to safely navigate and interact with their…
Learning to Nudge: A Scalable Barrier Function Framework for Safe Robot Interaction in Dense Clutter
Haixin Jin, Nikhil Uday Shinde, Soofiyan Atar +5
Robots operating in everyday environments must navigate and manipulate within densely cluttered spaces, where physical contact with surrounding objects is unavoidable. Traditional…