49 papers
Safe, Real-Time Active Model Discrimination and Fault Diagnosis for Nonlinear Systems via Differentiable Reachability
Xinpei Ni, Melkior Ornik, Glen Chou +1
We present a safe, real-time algorithm for active fault diagnosis and model discrimination for uncertain continuous-time nonlinear systems with process and measurement disturbances…
When Should a Robot Replan? Regret-Guided Update Scheduling in Time-Varying MDPs
Negin Musavi, Gokul Puthumanaillam, Ruben Hernandez +2
Robots operating in non-stationary environments must continually adapt their policies as the dynamics drift, but onboard energy and compute budgets cap how often a full state estim…
Task-Aware Environment Augmentation for Reliable Navigation via Shielded Conditional Diffusion
Bharawee Phoompho, Gokul Puthumanaillam, Yan Miao +4
Reliable trajectory planning under partial observability depends not only on computing a feasible geometric path, but also on whether the robot receives informative observations wh…
Trajectory-Level Redirection Attacks on Vision-Language-Action Models
Gokul Puthumanaillam, Vardhan Dongre, Pranay Thangeda +3
Vision-language-action (VLA) policies bring natural language into closed-loop robot control, enabling robots to execute manipulation tasks directly from text instructions. The same…
Ignore Drift, Embrace Simplicity: Constrained Nonlinear Control through Driftless Approximation
Ram Padmanabhan, Melkior Ornik
We present a novel technique to drive a nonlinear system to reach a target state under input constraints. The proposed controller consists only of piecewise constant inputs, genera…
Viscosity-Informed Generative Actor-Critic for High-Dimensional Stochastic Optimal Control
Alen E. Golpashin, Gokul Puthumanaillam, Melkior Ornik +1
We introduce a method for approximating viscosity solutions of stationary degenerate elliptic Hamilton--Jacobi--Bellman equations on bounded domains arising in stochastic exit-time…