9 citations · 21 across the 9 of their papers we have counts for
8 papers · 1 filter
STL-SVPIO: Signal Temporal Logic guided Stein Variational Path Integral Optimization
Hongrui Zheng, Zirui Zang, Ahmad Amine +2
Signal Temporal Logic (STL) enables formal specification of complex spatiotemporal constraints for robotic task planning. However, synthesizing long-horizon continuous control traj…
SIT-LMPC: Safe Information-Theoretic Learning Model Predictive Control for Iterative Tasks
Zirui Zang, Ahmad Amine, Nick-Marios T. Kokolakis +3
Robots executing iterative tasks in complex, uncertain environments require control strategies that balance robustness, safety, and high performance. This paper introduces a safe i…
PoseINN: Realtime Visual-based Pose Regression and Localization with Invertible Neural Networks
Zirui Zang, Ahmad Amine, Rahul Mangharam
Estimating ego-pose from cameras is an important problem in robotics with applications ranging from mobile robotics to augmented reality. While SOTA models are becoming increasingl…
Ensemble Gaussian Processes for Adaptive Autonomous Driving on Multi-friction Surfaces
Tomáš Nagy, Ahmad Amine, Truong X. Nghiem +3
Driving under varying road conditions is challenging, especially for autonomous vehicles that must adapt in real-time to changes in the environment, e.g., rain, snow, etc. It is di…
Towards Explainability in Modular Autonomous Vehicle Software
Hongrui Zheng, Zirui Zang, Shuo Yang +1
Safety-critical Autonomous Systems require trustworthy and transparent decision-making process to be deployable in the real world. The advancement of Machine Learning introduces hi…
Local_INN: Implicit Map Representation and Localization with Invertible Neural Networks
Zirui Zang, Hongrui Zheng, Johannes Betz +1
Robot localization is an inverse problem of finding a robot's pose using a map and sensor measurements. In recent years, Invertible Neural Networks (INNs) have successfully solved…
Teaching Autonomous Systems Hands-On: Leveraging Modular Small-Scale Hardware in the Robotics Classroom
Johannes Betz, Hongrui Zheng, Zirui Zang +8
Although robotics courses are well established in higher education, the courses often focus on theory and sometimes lack the systematic coverage of the techniques involved in devel…
Winning the 3rd Japan Automotive AI Challenge -- Autonomous Racing with the Autoware.Auto Open Source Software Stack
Zirui Zang, Renukanandan Tumu, Johannes Betz +2
The 3rd Japan Automotive AI Challenge was an international online autonomous racing challenge where 164 teams competed in December 2021. This paper outlines the winning strategy to…