4 papers · 1 filter
Safety-aware Model Predictive Path Integral Control with Signal Temporal Logic
Yiqi Zhao, Taekyung Kim, Hideki Okamoto +4
Safety-aware motion planning remains a challenge in robotics, especially when missions are time-critical and are under complex specifications. In this paper, we propose safety-awar…
Logic-VLA: A Temporal Logic Conditioned Vision-Language-Action Model
Celina Shiyu Wang, Yiqi Zhao, Junjie Ye +2
Vision-language-action (VLA) models can follow natural-language (NL) task instructions, but such instructions may not precisely specify safety-critical or spatiotemporal requiremen…
Duet: Dual-Robot Understanding via Efficient Teaching
Yiqi Zhao, Ruohai Ge, Celina Shiyu Wang +10
Dual-robot collaboration enables tasks that exceed the reach and payload of a single robot, such as collaboratively transporting objects across environments and executing coordinat…
PCA-DDReach: Efficient Statistical Reachability Analysis of Stochastic Dynamical Systems via Principal Component Analysis
Navid Hashemi, Lars Lindemann, Jyotirmoy Deshmukh
This study presents a scalable data-driven algorithm designed to efficiently address the challenging problem of reachability analysis. Analysis of cyber-physical systems (CPS) reli…