3 citations · 9 across the 7 of their papers we have counts for
8 papers
SOCIALGYM 2.0: Simulator for Multi-Agent Social Robot Navigation in Shared Human Spaces
Zayne Sprague, Rohan Chandra, Jarrett Holtz +1
We present SocialGym 2, a multi-agent navigation simulator for social robot research. Our simulator models multiple autonomous agents, replicating real-world dynamics in complex en…
Programmatic Imitation Learning from Unlabeled and Noisy Demonstrations
Jimmy Xin, Linus Zheng, Kia Rahmani +4
Imitation Learning (IL) is a promising paradigm for teaching robots to perform novel tasks using demonstrations. Most existing approaches for IL utilize neural networks (NN), howev…
STEADY: Simultaneous State Estimation and Dynamics Learning from Indirect Observations
Jiayi Wei, Jarrett Holtz, Isil Dillig +1
Accurate kinodynamic models play a crucial role in many robotics applications such as off-road navigation and high-speed driving. Many state-of-the-art approaches in learning stoch…
SOCIALGYM: A Framework for Benchmarking Social Robot Navigation
Jarrett Holtz, Joydeep Biswas
Robots moving safely and in a socially compliant manner in dynamic human environments is an essential benchmark for long-term robot autonomy. However, it is not feasible to learn a…
Iterative Program Synthesis for Adaptable Social Navigation
Jarrett Holtz, Simon Andrews, Arjun Guha +1
Robot social navigation is influenced by human preferences and environment-specific scenarios such as elevators and doors, thus necessitating end-user adaptability. State-of-the-ar…
Robot Action Selection Learning via Layered Dimension Informed Program Synthesis
Jarrett Holtz, Arjun Guha, Joydeep Biswas
Action selection policies (ASPs), used to compose low-level robot skills into complex high-level tasks are commonly represented as neural networks (NNs) in the state of the art. Su…
SMT-based Robot Transition Repair
Jarrett Holtz, Arjun Guha, Joydeep Biswas
State machines are a common model for robot behaviors. Transition functions often rely on parameterized conditions to model preconditions for the controllers, where the correct val…
Interactive Robot Transition Repair With SMT
Jarrett Holtz, Arjun Guha, Joydeep Biswas
Complex robot behaviors are often structured as state machines, where states encapsulate actions and a transition function switches between states. Since transitions depend on phys…