3 papers
cs.RO2025
Hierarchical Reinforcement Learning and Value Optimization for Challenging Quadruped Locomotion
Jeremiah Coholich, Muhammad Ali Murtaza, Seth Hutchinson +1
We propose a novel hierarchical reinforcement learning framework for quadruped locomotion over challenging terrain. Our approach incorporates a two-layer hierarchy in which a high-…
cs.RO2025
Safety Aware Task Planning via Large Language Models in Robotics
Azal Ahmad Khan, Michael Andrev, Muhammad Ali Murtaza +5
The integration of large language models (LLMs) into robotic task planning has unlocked better reasoning capabilities for complex, long-horizon workflows. However, ensuring safety…
eess.SY2022
Correct-By-Construction Design of Adaptive Cruise Control with Control Barrier Functions Under Safety and Regulatory Constraints
Muhammad Waqas, Muhammad Ali Murtaza, Pierluigi Nuzzo +1
The safety-critical nature of adaptive cruise control (ACC) systems calls for systematic design procedures, e.g., based on formal methods or control barrier functions (CBFs), to pr…