12 papers
Learning to Localize Reference Trajectories in Image-Space for Visual Navigation
Finn Lukas Busch, Matti Vahs, Quantao Yang +4
We present LoTIS, a model for visual navigation that provides robot-agnostic image-space guidance by localizing a reference RGB trajectory in the robot's current view, without requ…
Parameter-Robust MPPI for Safe Online Learning of Unknown Parameters
Matti Vahs, Jaeyoun Choi, Niklas Schmid +2
Robots deployed in dynamic environments must remain safe even when key physical parameters are uncertain or change over time. We propose Parameter-Robust Model Predictive Path Inte…
BURNS: Backward Underapproximate Reachability for Neural-Feedback-Loop Systems
Chelsea Sidrane, Jana Tumova
Learning-enabled planning and control algorithms are increasingly popular, but they often lack rigorous guarantees of performance or safety. We introduce an algorithm for computing…
TTT: A Temporal Refinement Heuristic for Tenuously Tractable Discrete Time Reachability Problems
Chelsea Sidrane, Jana Tumova
Reachable set computation is an important tool for analyzing control systems. Simulating a control system can show general trends, but a formal tool like reachability analysis can…
Risk-Aware Robot Control in Dynamic Environments Using Belief Control Barrier Functions
Shaohang Han, Matti Vahs, Jana Tumova
Ensuring safety for autonomous robots operating in dynamic environments can be challenging due to factors such as unmodeled dynamics, noisy sensor measurements, and partial observa…
CageCoOpt: Enhancing Manipulation Robustness through Caging-Guided Morphology and Policy Co-Optimization
Yifei Dong, Shaohang Han, Xianyi Cheng +5
Uncertainties in contact dynamics and object geometry remain significant barriers to robust robotic manipulation. Caging mitigates these uncertainties by constraining an object's m…