5 papers
Learning Gait-Aware Quadruped Locomotion with Temporal Logic Specifications
Merve Atasever, Cagan Bakirci, Alfredo Reina Corona +2
Reinforcement learning (RL) for quadruped locomotion commonly depends on fixed, hand-crafted, and Markovian reward functions that limit both interpretability of learned policies an…
Coordinating Spinal and Limb Dynamics for Enhanced Sprawling Robot Mobility
Merve Atasever, Ali Okhovat, Azhang Nazaripouya +4
Sprawling locomotion in vertebrates, particularly salamanders, demonstrates how body undulation and spinal mobility enhance stability, maneuverability, and adaptability across comp…
Self-driving cars: Are we there yet?
Merve Atasever, Zhuochen Liu, Qingpei Li +4
Autonomous driving remains a highly active research domain that seeks to enable vehicles to perceive dynamic environments, predict the future trajectories of traffic agents such as…
Multi-Agent Path Finding via Offline RL and LLM Collaboration
Merve Atasever, Matthew Hong, Mihir Nitin Kulkarni +2
Multi-Agent Path Finding (MAPF) poses a significant and challenging problem critical for applications in robotics and logistics, particularly due to its combinatorial complexity an…
Motion Planning for Automata-based Objectives using Efficient Gradient-based Methods
Anand Balakrishnan, Merve Atasever, Jyotirmoy V. Deshmukh
In recent years, there has been increasing interest in using formal methods-based techniques to safely achieve temporal tasks, such as timed sequence of goals, or patrolling object…