5 papers
Inverse Mixed Strategy Games with Generative Trajectory Models
Max Muchen Sun, Pete Trautman, Todd Murphey
Game-theoretic models are effective tools for modeling multi-agent interactions, especially when robots need to coordinate with humans. However, applying these models requires infe…
Human Robot Pacing Mismatch
Muchen Sun, Peter Trautman, Todd Murphey
A widely accepted explanation for robots planning overcautious or overaggressive trajectories alongside human is that the crowd density exceeds a threshold such that all feasible t…
Automated Gait Generation For Walking, Soft Robotic Quadrupeds
Jake Ketchum, Sophia Schiffer, Muchen Sun +3
Gait generation for soft robots is challenging due to the nonlinear dynamics and high dimensional input spaces of soft actuators. Limitations in soft robotic control and perception…
Scale-Invariant Fast Functional Registration
Muchen Sun, Allison Pinosky, Ian Abraham +1
Functional registration algorithms represent point clouds as functions (e.g. spacial occupancy field) avoiding unreliable correspondence estimation in conventional least-squares re…
Move Beyond Trajectories: Distribution Space Coupling for Crowd Navigation
Muchen Sun, Francesca Baldini, Peter Trautman +1
Cooperatively avoiding collision is a critical functionality for robots navigating in dense human crowds, failure of which could lead to either overaggressive or overcautious behav…