5 papers
Pose-Agnostic Robotic Functional Grasping via Observation-Action Canonicalization
Le Qiu, Cole Harrison, Jiankai Sun +5
Functional robotic grasping requires a policy that generalizes across diverse object geometries and poses while maintaining task-specific contact precision. We study this challenge…
MAIN-VLA: Modeling Abstraction of Intention and eNvironment for Vision-Language-Action Models
Zheyuan Zhou, Liang Du, Zixun Sun +5
Despite significant progress in Visual-Language-Action (VLA), in highly complex and dynamic environments that involve real-time unpredictable interactions (such as 3D open worlds a…
AED: Automatic Discovery of Effective and Diverse Vulnerabilities for Autonomous Driving Policy with Large Language Models
Le Qiu, Zelai Xu, Qixin Tan +3
Assessing the safety of autonomous driving policy is of great importance, and reinforcement learning (RL) has emerged as a powerful method for discovering critical vulnerabilities…
Safety-Aware Imitation Learning via MPC-Guided Disturbance Injection
Le Qiu, Yusuf Umut Ciftci, Somil Bansal
Imitation Learning has provided a promising approach to learning complex robot behaviors from expert demonstrations. However, learned policies can make errors that lead to safety v…
Bridging Model Predictive Control and Deep Learning for Scalable Reachability Analysis
Zeyuan Feng, Le Qiu, Somil Bansal
Hamilton-Jacobi (HJ) reachability analysis is a widely used method for ensuring the safety of robotic systems. Traditional approaches compute reachable sets by numerically solving…