323 citations · 353 across the 15 of their papers we have counts for
15 papers
STL-SVPIO: Signal Temporal Logic guided Stein Variational Path Integral Optimization
Hongrui Zheng, Zirui Zang, Ahmad Amine +2
Signal Temporal Logic (STL) enables formal specification of complex spatiotemporal constraints for robotic task planning. However, synthesizing long-horizon continuous control traj…
STLGame: Signal Temporal Logic Games in Adversarial Multi-Agent Systems
Shuo Yang, Hongrui Zheng, Cristian-Ioan Vasile +2
We study how to synthesize a robust and safe policy for autonomous systems under signal temporal logic (STL) tasks in adversarial settings against unknown dynamic agents. To ensure…
Bridging the Gap between Discrete Agent Strategies in Game Theory and Continuous Motion Planning in Dynamic Environments
Hongrui Zheng, Zhijun Zhuang, Stephanie Wu +2
Generating competitive strategies and performing continuous motion planning simultaneously in an adversarial setting is a challenging problem. In addition, understanding the intent…
Differentiable Trajectory Generation for Car-like Robots with Interpolating Radial Basis Function Networks
Hongrui Zheng, Rahul Mangharam
The design of Autonomous Vehicle software has largely followed the Sense-Plan-Act model. Traditional modular AV stacks develop perception, planning, and control software separately…
Towards Explainability in Modular Autonomous Vehicle Software
Hongrui Zheng, Zirui Zang, Shuo Yang +1
Safety-critical Autonomous Systems require trustworthy and transparent decision-making process to be deployable in the real world. The advancement of Machine Learning introduces hi…
Local_INN: Implicit Map Representation and Localization with Invertible Neural Networks
Zirui Zang, Hongrui Zheng, Johannes Betz +1
Robot localization is an inverse problem of finding a robot's pose using a map and sensor measurements. In recent years, Invertible Neural Networks (INNs) have successfully solved…