3 papers
cs.RO2026
PRISM: Performer RS-IMLE for Single-pass Multisensory Imitation Learning
Amisha Bhaskar, Pratap Tokekar, Stefano Di Cairano +1
Robotic imitation learning typically requires models that capture multimodal action distributions while operating at real-time control rates and accommodating multiple sensing moda…
cs.RO2025
Delayed Expansion AGT: Kinodynamic Planning with Application to Tractor-Trailer Parking
Dongliang Zheng, Yebin Wang, Stefano Di Cairano +1
Kinodynamic planning of articulated vehicles in cluttered environments faces additional challenges arising from high-dimensional state space and complex system dynamics. Built upon…
math.OC2025
A Comparative Study of MINLP and MPVC Formulations for Solving Complex Nonlinear Decision-Making Problems in Aerospace Applications
Andrea Ghezzi, Armin Nurkanović, Avishai Weiss +2
High-level decision-making for dynamical systems often involves performance and safety specifications that are activated or deactivated depending on conditions related to the syste…