5 papers · 1 filter
V-MORALS: Visual Morse Graph-Aided Estimation of Regions of Attraction in a Learned Latent Space
Faiz Aladin, Ashwin Balasubramanian, Lars Lindemann +1
Reachability analysis has become increasingly important in robotics to distinguish safe from unsafe states. Unfortunately, existing reachability and safety analysis methods often f…
Sample-Efficient Expert Query Control in Active Imitation Learning via Conformal Prediction
Arad Firouzkouhi, Omid Mirzaeedodangeh, Lars Lindemann
Active imitation learning (AIL) combats covariate shift by querying an expert during training. However, expert action labeling often dominates the cost, especially in GPU-intensive…
Latent Activation Editing: Inference-Time Refinement of Learned Policies for Safer Multirobot Navigation
Satyajeet Das, Darren Chiu, Zhehui Huang +2
Reinforcement learning has enabled significant progress in complex domains such as coordinating and navigating multiple quadrotors. However, even well-trained policies remain vulne…
Reactive Temporal Logic-based Planning and Control for Interactive Robotic Tasks
Farhad Nawaz, Shaoting Peng, Lars Lindemann +2
Robots interacting with humans must be safe, reactive and adapt online to unforeseen environmental and task changes. Achieving these requirements concurrently is a challenge as int…
Robust STL Control Synthesis under Maximal Disturbance Sets
Joris Verhagen, Lars Lindemann, Jana Tumova
This work addresses maximally robust control synthesis under unknown disturbances. We consider a general nonlinear system, subject to a Signal Temporal Logic (STL) specification, a…