62 citations · 73 across the 7 of their papers we have counts for
7 papers · 1 filter
Multistep Belief Space Dynamics Learning For Risk-Aware Control
Jason Gibson, Bogdan Vlahov, Patrick Spieler +1
As autonomous vehicles move from a simplified research setting to practical use, there exists a large gap between the dynamic behavior of a human driving and an autonomous system.…
Meta-Learning Online Dynamics Model Adaptation in Off-Road Autonomous Driving
Jacob Levy, Jason Gibson, Bogdan Vlahov +4
High-speed off-road autonomous driving presents unique challenges due to complex, evolving terrain characteristics and the difficulty of accurately modeling terrain-vehicle interac…
Low Frequency Sampling in Model Predictive Path Integral Control
Bogdan Vlahov, Jason Gibson, David D. Fan +3
Sampling-based model-predictive controllers have become a powerful optimization tool for planning and control problems in various challenging environments. In this paper, we show h…
A Multi-step Dynamics Modeling Framework For Autonomous Driving In Multiple Environments
Jason Gibson, Bogdan Vlahov, David Fan +4
Modeling dynamics is often the first step to making a vehicle autonomous. While on-road autonomous vehicles have been extensively studied, off-road vehicles pose many challenging m…
Approximate Inverse Reinforcement Learning from Vision-based Imitation Learning
Keuntaek Lee, Bogdan Vlahov, Jason Gibson +2
In this work, we present a method for obtaining an implicit objective function for vision-based navigation. The proposed methodology relies on Imitation Learning, Model Predictive…
Ensemble Bayesian Decision Making with Redundant Deep Perceptual Control Policies
Keuntaek Lee, Ziyi Wang, Bogdan I. Vlahov +2
This work presents a novel ensemble of Bayesian Neural Networks (BNNs) for control of safety-critical systems. Decision making for safety-critical systems is challenging due to per…