4 papers
From Prediction Uncertainty to Conformalized Distance Fields for Safe Motion Planning
Jaeuk Shin, Yoonseok Ra, Insoon Yang
Safe motion planning in dynamic environments requires reasoning about the uncertainty in predicted obstacle motion without sacrificing real-time performance. Existing conformal app…
Sharpness-Aware Minimization Can Hallucinate Minimizers
Chanwoong Park, Uijeong Jang, Ernest K. Ryu +1
Sharpness-Aware Minimization (SAM) is widely used to seek flatter minima -- often linked to better generalization. In its standard implementation, SAM updates the current iterate u…
KoopCast: Trajectory Forecasting via Koopman Operators
Jungjin Lee, Jaeuk Shin, Gihwan Kim +2
We present KoopCast, a lightweight yet efficient model for trajectory forecasting in general dynamic environments. Our approach leverages Koopman operator theory, which enables a l…
Egocentric Conformal Prediction for Safe and Efficient Navigation in Dynamic Cluttered Environments
Jaeuk Shin, Jungjin Lee, Insoon Yang
Conformal prediction (CP) has emerged as a powerful tool in robotics and control, thanks to its ability to calibrate complex, data-driven models with formal guarantees. However, in…