6 papers
PolyMerge: Compressing 3D Gaussian Splats with Polytope Coverings for Provably Safe Resource-Constrained Navigation
Jihoon Hong, Chih-Yuan Chiu, Sara Fridovich-Keil +1
Obstacle avoidance is essential for safe navigation and motion planning. Recent radiance field reconstruction methods enable object detection and modeling with high fidelity, but r…
Over-Approximating Minimizer Sets of Constrained Convex Programs with Parametric Uncertainty via Reachability Analysis
Brendan Gould, Chih-Yuan Chiu, Antoine P. Leeman +3
We study the set of solutions to a parameterized, strongly convex optimization problem whose cost depends on uncertain, bounded parameters. We compute a certified outer approximati…
Robustly Constrained Dynamic Games for Uncertain Nonlinear Dynamics
Shuyu Zhan, Chih-Yuan Chiu, Antoine P. Leeman +1
We propose a novel framework for robust dynamic games with nonlinear dynamics corrupted by state-dependent additive noise, and nonlinear agent-specific and shared constraints. Leve…
Constraint Learning in Multi-Agent Dynamic Games from Demonstrations of Local Nash Interactions
Zhouyu Zhang, Chih-Yuan Chiu, Glen Chou
We present an inverse dynamic game-based algorithm to learn parametric constraints from a given dataset of local Nash equilibrium interactions between multiple agents. Specifically…
Learning Constraints from Stochastic Partially-Observed Closed-Loop Demonstrations
Chih-Yuan Chiu, Zhouyu Zhang, Glen Chou
We present a method for learning unknown parametric constraints from locally-optimal input-output trajectory data. We assume the data is generated by rollouts of stochastic nonline…
Active Constraint Learning in High Dimensions from Demonstrations
Zheng Qiu, Chih-Yuan Chiu, Glen Chou
We present an iterative active constraint learning (ACL) algorithm, within the learning from demonstrations (LfD) paradigm, which intelligently solicits informative demonstration t…