3 citations · 3 across the 9 of their papers we have counts for
10 papers
Localized Conformal Safety Monitoring with Vision-Language Models for Autonomous Driving
Luís Marques, Rong Fang, Disha Kamale +1
Monitoring planned driving trajectories requires accurately estimating the collision likelihood with actors whose motion is itself impacted by the ego motion. Existing classical ap…
PDDL-ART: Autonomous Symbolic Abstraction From Demonstration For Long-Horizon Robotic Manipulation Using Vision-Language Models
Disha Kamale, Dmitry Berenson
Symbolic planning with PDDL offers a principled framework for long-horizon robot manipulation, but constructing accurate PDDL domain and problem descriptions remains a significant…
A*-based Temporal Logic Path Planning with User Preferences on Relaxed Task Satisfaction
Disha Kamale, Xi Yu, Cristian-Ioan Vasile
In this work, we consider the problem of planning for temporal logic tasks in large robot environments. When full task compliance is unattainable, we aim to achieve the best possib…
Learning Optimal Signal Temporal Logic Decision Trees for Classification: A Max-Flow MILP Formulation
Kaier Liang, Gustavo A. Cardona, Disha Kamale +1
This paper presents a novel framework for inferring timed temporal logic properties from data. The dataset comprises pairs of finite-time system traces and corresponding labels, de…
Optimal Control Synthesis with Relaxed Global Temporal Logic Specifications for Homogeneous Multi-robot Teams
Disha Kamale, Cristian-Ioan Vasile
In this work, we address the problem of control synthesis for a homogeneous team of robots given a global temporal logic specification and formal user preferences for relaxation in…
Energy-Constrained Active Exploration Under Incremental-Resolution Symbolic Perception
Disha Kamale, Sofie Haesaert, Cristian-Ioan Vasile
In this work, we consider the problem of autonomous exploration in search of targets while respecting a fixed energy budget. The robot is equipped with an incremental-resolution sy…
Natural Language Robot Programming: NLP integrated with autonomous robotic grasping
Muhammad Arshad Khan, Max Kenney, Jack Painter +3
In this paper, we present a grammar-based natural language framework for robot programming, specifically for pick-and-place tasks. Our approach uses a custom dictionary of action w…
Symbolic Perception Risk in Autonomous Driving
Guangyi Liu, Disha Kamale, Cristian-Ioan Vasile +1
We develop a novel framework to assess the risk of misperception in a traffic sign classification task in the presence of exogenous noise. We consider the problem in an autonomous…
Cautious Planning with Incremental Symbolic Perception: Designing Verified Reactive Driving Maneuvers
Disha Kamale, Sofie Haesaert, Cristian-Ioan Vasile
This work presents a step towards utilizing incrementally-improving symbolic perception knowledge of the robot's surroundings for provably correct reactive control synthesis applie…
Automata-based Optimal Planning with Relaxed Specifications
Disha Kamale, Eleni Karyofylli, Cristian-Ioan Vasile
In this paper, we introduce an automata-based framework for planning with relaxed specifications. User relaxation preferences are represented as weighted finite state edit systems…