10 papers
Inverting Self-Triggered Control: Adversarial Reinforcement Learning for Sparse Denial-of-Service Attacks
Adam Haroon, Erick J. Rodríguez-Seda, Tristan Schuler +1
Self-triggered reinforcement learning control (RL-STC) learns the sparsest control schedule that preserves Lyapunov-decreasing stability under a Run-Time Assurance (RTA) override.…
Certified Safety Curation: Distribution-Free Guarantees for Safe Offline Reinforcement Learning
Adam Haroon, Cody Fleming
Safe offline reinforcement learning assumes a cost function on every transition. We ask what remains possible when safety can be judged only by comparing short clips and occasional…
Repairing Shape-Prior Shortcuts in Long-Range Single-Shot Fringe Projection Profilometry
Adam Haroon, Cody Fleming, Beiwen Li
Single-shot fringe projection profilometry (FPP) networks that regress depth directly can exploit a shape-prior shortcut, recovering depth from object boundaries rather than from f…
Diagnosing Shape-Prior Shortcuts in Long-Range Single-Shot Fringe Projection Profilometry
Adam Haroon, Anush Lakshman, Cody Fleming +1
Learning-based single-shot fringe projection profilometry (FPP) has been studied almost entirely at close range, and the networks used are evaluated only on aggregate error, leavin…
Learning When to Act: Communication-Efficient Reinforcement Learning via Run-Time Assurance
Adam Haroon, Erick J. Rodríguez-Seda, Cody Fleming +1
Safe reinforcement learning (RL) typically asks an agent should do. We ask it needs to act, and show that a single policy can jointly learn control…
LCLA: Language-Conditioned Latent Alignment for Vision-Language Navigation
Nitesh Subedi, Adam Haroon, Samuel Tetteh +3
We propose LCLA (Language-Conditioned Latent Alignment), a framework for vision-language navigation that learns modular perception-action interfaces by aligning sensory observation…
Comprehensive Machine Learning Benchmarking for Fringe Projection Profilometry with Photorealistic Synthetic Data
Anush Lakshman S, Adam Haroon, Beiwen Li
Machine learning approaches for fringe projection profilometry (FPP) are hindered by the lack of large, diverse datasets and standardized benchmarking protocols. This paper introdu…
Distributed Area Coverage with High Altitude Balloons Using Multi-Agent Reinforcement Learning
Adam Haroon, Tristan Schuler
High Altitude Balloons (HABs) can leverage stratospheric wind layers for limited horizontal control, enabling applications in reconnaissance, environmental monitoring, and communic…
VIRTUS-FPP: Virtual Sensor Modeling for Fringe Projection Profilometry in NVIDIA Isaac Sim
Adam Haroon, Anush Lakshman, Badrinath Balasubramaniam +1
Fringe projection profilometry (FPP) is a high-precision structured-light sensing technique for 3D surface reconstruction, yet its practical deployment is often constrained by comp…
Can Pretrained Vision-Language Embeddings Alone Guide Robot Navigation?
Nitesh Subedi, Adam Haroon, Shreyan Ganguly +4
Foundation models have revolutionized robotics by providing rich semantic representations without task-specific training. While many approaches integrate pretrained vision-language…