5 citations · 6 across the 13 of their papers we have counts for
7 papers · 1 filter
Safe and Scalable Multi-Drone Payload Transport via CBF-based Reinforcement Learning with Zero-Shot Sim-to-Real Transfer
Jaeyoun Choi, Oswin So, Songyuan Zhang +2
Multi-drone payload transportation has emerged as a promising research paradigm with potential applications in construction, logistics, and disaster response. However, the complex…
Value Functions for Temporal Logic: Optimal Policies and Safety Filters
Oswin So, William Sharpless, Sylvia Herbert +1
While Bellman equations for basic reach, avoid, and reach-avoid problems are well studied, the relationship between value optimality and policy optimality becomes subtle in the und…
Bellman Value Decomposition for Task Logic in Safe Optimal Control
William Sharpless, Oswin So, Dylan Hirsch +2
Real-world tasks involve nuanced combinations of goal and safety specifications. In high dimensions, the challenge is exacerbated: formal automata become cumbersome, and the combin…
Parameter-Robust MPPI for Safe Online Learning of Unknown Parameters
Matti Vahs, Jaeyoun Choi, Niklas Schmid +2
Robots deployed in dynamic environments must remain safe even when key physical parameters are uncertain or change over time. We propose Parameter-Robust Model Predictive Path Inte…
Solving Multi-Agent Safe Optimal Control with Distributed Epigraph Form MARL
Songyuan Zhang, Oswin So, Mitchell Black +2
Tasks for multi-robot systems often require the robots to collaborate and complete a team goal while maintaining safety. This problem is usually formalized as a constrained Markov…
Discrete GCBF Proximal Policy Optimization for Multi-agent Safe Optimal Control
Songyuan Zhang, Oswin So, Mitchell Black +1
Control policies that can achieve high task performance and satisfy safety constraints are desirable for any system, including multi-agent systems (MAS). One promising technique fo…