9 papers
Sensitivity Shaping for Latent Modeling
Hongzhan Yu, Chenghao Li, Ruipeng Zhang +2
Generative dynamics models enable planning in challenging robotic systems, but safe deployment requires reliably detecting policy-induced out-of-distribution (OOD) transitions. Exi…
GLIDE: A Coordinated Aerial-Ground Framework for Search and Rescue in Unknown Environments
Seth Farrell, Chenghao Li, Henrik I. Christensen
We present a cooperative aerial-ground search-and-rescue (SAR) framework that pairs two unmanned aerial vehicles (UAVs) with an unmanned ground vehicle (UGV) to achieve rapid victi…
Learning to Nudge: A Scalable Barrier Function Framework for Safe Robot Interaction in Dense Clutter
Haixin Jin, Nikhil Uday Shinde, Soofiyan Atar +5
Robots operating in everyday environments must navigate and manipulate within densely cluttered spaces, where physical contact with surrounding objects is unavoidable. Traditional…
May I have your Attention? Breaking Fine-Tuning based Prompt Injection Defenses using Architecture-Aware Attacks
Nishit V. Pandya, Andrey Labunets, Sicun Gao +1
A popular class of defenses against prompt injection attacks on large language models (LLMs) relies on fine-tuning to separate instructions and data, so that the LLM does not follo…
Controllable Motion Generation via Diffusion Modal Coupling
Luobin Wang, Hongzhan Yu, Chenning Yu +2
Diffusion models have recently gained significant attention in robotics due to their ability to generate multi-modal distributions of system states and behaviors. However, a key ch…
Sequence Modeling for Time-Optimal Quadrotor Trajectory Optimization with Sampling-based Robustness Analysis
Katherine Mao, Hongzhan Yu, Ruipeng Zhang +4
Time-optimal trajectories drive quadrotors to their dynamic limits, but computing such trajectories involves solving non-convex problems via iterative nonlinear optimization, makin…