17 papers
FalconTrack: Photorealistic Auto-Labeled Perception and Physics-Aware Vision-Based Aerial Tracking
Yan Miao, Karteek Gandiboyina, Noah Giles +4
Vision-based aerial tracking is critical in GPS-denied environments. Reliable perception for tracking depends on large-scale labeled data, yet most photorealistic datasets rely on…
Sample-Efficient Learning of Probabilistic Causes for Reachability in Markov Decision Processes with Probabilistic Guarantees
Ryohei Oura, Georgios Fainekos, Hideki Okamoto +1
Probabilistic model checking for Markov decision processes (MDPs) provides quantitative guarantees, but often offers limited insight into why undesired outcomes occur. Probability-…
Reinforcement Learning for Risk Adaptation via Differentiable CVaR Barrier Functions
Xinyi Wang, Taekyung Kim, Bardh Hoxha +2
Planning through crowded environments under uncertain obstacle motions remains difficult, as stochastic interactions often induce overly conservative behavior or reduced efficiency…
Policy Library CBF: Finite-Horizon Safety at Runtime via Parallel Rollouts
Taekyung Kim, Hideki Okamoto, Bardh Hoxha +2
Safety-critical autonomy in unstructured environments poses significant challenges for online safety certification under evolving constraints. We propose Policy Library Control Bar…
Vision-Based Runtime Monitoring under Varying Specifications using Semantic Latent Representations
Bardh Hoxha, Oliver Schön, Hideki Okamoto +2
We study certified runtime monitoring of past-time signal temporal logic (ptSTL) from visual observations under partial observability. The monitor must infer safety-relevant quanti…
Spatio-Temporal Grounding of Large Language Models from Perception Streams
Jacob Anderson, Bardh Hoxha, Georgios Fainekos +2
Embodied-AI agents must reason about how objects move and interact in 3-D space over time, yet existing smaller frontier Large Language Models (LLMs) still mis-handle fine-grained…