3 papers
cs.RO2026
Action Map Policy: Learning 3D Closed-loop Manipulation via Pixel Classification
Haojie Huang, Zhang Ye, Linfeng Zhao +7
The action space poses a major challenge in robot learning, since it is often high-dimensional, can span long time horizons, and frequently admits multi-modal optimal solutions. A…
cs.LG2023
Filter-Aware Model-Predictive Control
Baris Kayalibay, Atanas Mirchev, Ahmed Agha +2
Partially-observable problems pose a trade-off between reducing costs and gathering information. They can be solved optimally by planning in belief space, but that is often prohibi…
cs.LG2022
PRISM: Probabilistic Real-Time Inference in Spatial World Models
Atanas Mirchev, Baris Kayalibay, Ahmed Agha +3
We introduce PRISM, a method for real-time filtering in a probabilistic generative model of agent motion and visual perception. Previous approaches either lack uncertainty estimate…