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cs.RO2023
Enhancing State Estimation in Robots: A Data-Driven Approach with Differentiable Ensemble Kalman Filters
Xiao Liu, Geoffrey Clark, Joseph Campbell +2
This paper introduces a novel state estimation framework for robots using differentiable ensemble Kalman filters (DEnKF). DEnKF is a reformulation of the traditional ensemble Kalma…
cs.RO2023
Certifiably-correct Control Policies for Safe Learning and Adaptation in Assistive Robotics
Keyvan Majd, Geoffrey Clark, Tanmay Khandait +4
Guaranteeing safety in human-centric applications is critical in robot learning as the learned policies may demonstrate unsafe behaviors in formerly unseen scenarios. We present a…
cs.RO2023
Safe Robot Learning in Assistive Devices through Neural Network Repair
Keyvan Majd, Geoffrey Clark, Tanmay Khandait +4
Assistive robotic devices are a particularly promising field of application for neural networks (NN) due to the need for personalization and hard-to-model human-machine interaction…