27 citations · 79 across the 28 of their papers we have counts for
24 papers · 1 filter
Betting for Sim-to-Real Performance Certificates
Yujia Chen, Bowen Weng
Consider a typical test of a robot system: one observes a sequence of outcomes concerning some aspect of interest (crash or no crash, tracking error, time to completion), and repor…
Throwing a Tight Spiral American Football by a Humanoid Robot
Zaid Mahboob, Bowen Weng
Accurate throwing of the American football requires precise regulation of release conditions, where coupled linear and angular momentum determine flight stability and targeting acc…
Sim-to-Real Betting on the E-Process: Bringing "simulators" to anytime-valid confidence sequences
Yujia Chen, Bowen Weng
This note describes an integration of the sim-to-real performance estimate with betting (from Chen et al.) and the safe anytime-valid inference (from Ramdas et al.). Using the scal…
Betting for Sim-to-Real Performance Evaluation
Zaid Mahboob, Yujia Chen, Bowen Weng
This paper studies the problem of robot performance evaluation, focusing on how to obtain accurate and efficient estimates of real-world behavior under severe constraints on physic…
Rethink Repeatable Measures of Robot Performance with Statistical Query
Bowen Weng, Linda Capito, Guillermo A. Castillo +1
For a general standardized testing algorithm designed to evaluate a specific aspect of a robot's performance, several key expectations are commonly imposed. Beyond accuracy (i.e.,…
Post-Convergence Sim-to-Real Policy Transfer: A Principled Alternative to Cherry-Picking
Dylan Khor, Bowen Weng
Learning-based approaches, particularly reinforcement learning (RL), have become widely used for developing control policies for autonomous agents, such as locomotion policies for…
Repeatable and Reliable Efforts of Accelerated Risk Assessment in Robot Testing
Linda Capito, Guillermo A. Castillo, Bowen Weng
Risk assessment of a robot in controlled environments, such as laboratories and proving grounds, is a common means to assess, certify, validate, verify, and characterize the robots…
Data-Driven Latent Space Representation for Robust Bipedal Locomotion Learning
Guillermo A. Castillo, Bowen Weng, Wei Zhang +1
This paper presents a novel framework for learning robust bipedal walking by combining a data-driven state representation with a Reinforcement Learning (RL) based locomotion policy…
Template Model Inspired Task Space Learning for Robust Bipedal Locomotion
Guillermo A. Castillo, Bowen Weng, Shunpeng Yang +2
This work presents a hierarchical framework for bipedal locomotion that combines a Reinforcement Learning (RL)-based high-level (HL) planner policy for the online generation of tas…
Towards Standardized Disturbance Rejection Testing of Legged Robot Locomotion with Linear Impactor: A Preliminary Study, Observations, and Implications
Bowen Weng, Guillermo A. Castillo, Yun-Seok Kang +1
Dynamic locomotion in legged robots is close to industrial collaboration, but a lack of standardized testing obstructs commercialization. The issues are not merely political, theor…
A Diversity Analysis of Safety Metrics Comparing Vehicle Performance in the Lead-Vehicle Interaction Regime
Harnarayan Singh, Bowen Weng, Sughosh J. Rao +1
Vehicle performance metrics analyze data sets consisting of subject vehicle's interactions with other road users in a nominal driving environment and provide certain performance me…
On the Adversarial Scenario-based Safety Testing of Robots: the Comparability and Optimal Aggressiveness
Bowen Weng, Guillermo A. Castillo, Wei Zhang +1
This paper studies the class of scenario-based safety testing algorithms in the black-box safety testing configuration. For algorithms sharing the same state-action set coverage wi…
On Safety Testing, Validation, and Characterization with Scenario-Sampling: A Case Study of Legged Robots
Bowen Weng, Guillermo A. Castillo, Wei Zhang +1
The dynamic response of the legged robot locomotion is non-Lipschitz and can be stochastic due to environmental uncertainties. To test, validate, and characterize the safety perfor…
A Formal Safety Characterization of Advanced Driver Assist Systems in the Car-Following Regime with Scenario-Sampling
Bowen Weng, Minghao Zhu, Keith Redmill
The capability to follow a lead-vehicle and avoid rear-end collisions is one of the most important functionalities for human drivers and various Advanced Driver Assist Systems (ADA…
A Finite-Sampling, Operational Domain Specific, and Provably Unbiased Connected and Automated Vehicle Safety Metric
Bowen Weng, Linda Capito, Umit Ozguner +1
A connected and automated vehicle safety metric determines the performance of a subject vehicle (SV) by analyzing the data involving the interactions among the SV and other dynamic…
A Formal Characterization of Black-Box System Safety Performance with Scenario Sampling
Bowen Weng, Linda Capito, Umit Ozguner +1
A typical scenario-based evaluation framework seeks to characterize a black-box system's safety performance (e.g., failure rate) through repeatedly sampling initialization configur…
Towards Guaranteed Safety Assurance of Automated Driving Systems with Scenario Sampling: An Invariant Set Perspective (Extended Version)
Bowen Weng, Linda Capito, Umit Ozguner +1
How many scenarios are sufficient to validate the safe Operational Design Domain (ODD) of an Automated Driving System (ADS) equipped vehicle? Is a more significant number of sample…
Robust Feedback Motion Policy Design Using Reinforcement Learning on a 3D Digit Bipedal Robot
Guillermo A. Castillo, Bowen Weng, Wei Zhang +1
In this paper, a hierarchical and robust framework for learning bipedal locomotion is presented and successfully implemented on the 3D biped robot Digit built by Agility Robotics.…
A Modeled Approach for Online Adversarial Test of Operational Vehicle Safety (extended version)
Linda Capito, Bowen Weng, Umit Ozguner +1
The scenario-based testing of operational vehicle safety presents a set of principal other vehicle (POV) trajectories that seek to force the subject vehicle (SV) into a certain saf…
Velocity Regulation of 3D Bipedal Walking Robots with Uncertain Dynamics Through Adaptive Neural Network Controller
Guillermo A. Castillo, Bowen Weng, Terrence C. Stewart +2
This paper presents a neural-network based adaptive feedback control structure to regulate the velocity of 3D bipedal robots under dynamics uncertainties. Existing Hybrid Zero Dyna…
Model Predictive Instantaneous Safety Metric for Evaluation of Automated Driving Systems
Bowen Weng, Sughosh J. Rao, Eeshan Deosthale +2
Vehicles with Automated Driving Systems (ADS) operate in a high-dimensional continuous system with multi-agent interactions. This continuous system features various types of traffi…
Hybrid Zero Dynamics Inspired Feedback Control Policy Design for 3D Bipedal Locomotion using Reinforcement Learning
Guillermo A. Castillo, Bowen Weng, Wei Zhang +1
This paper presents a novel model-free reinforcement learning (RL) framework to design feedback control policies for 3D bipedal walking. Existing RL algorithms are often trained in…
Reciprocal Collision Avoidance for General Nonlinear Agents using Reinforcement Learning
Hao Li, Bowen Weng, Abhishek Gupta +2
Finding feasible and collision-free paths for multiple nonlinear agents is challenging in the decentralized scenarios due to limited available information of other agents and compl…
Reinforcement Learning Meets Hybrid Zero Dynamics: A Case Study for RABBIT
Guillermo A. Castillo, Bowen Weng, Ayonga Hereid +1
The design of feedback controllers for bipedal robots is challenging due to the hybrid nature of its dynamics and the complexity imposed by high-dimensional bipedal models. In this…