3 citations · 7 across the 13 of their papers we have counts for
9 papers · 1 filter
Confidence-Modulated Safety Filtering for End-to-End Policies
Javier Borquez, Jaime F. Fisac
End-to-end policies, from task-specific controllers to robot foundation models, learn complex behavior from raw observations but are not guaranteed to remain safe, so they are ofte…
Training Controllable World Models via Action Influence Maximization
Samuel M. Bateman, Tenny Yin, Chongyi Zheng +5
Action-conditioned video generative models trained on successful, goal-directed demonstrations tend to ignore the commanded action, rendering a plausible expert-like future regardl…
Winning a Won Game: Strict Reach-Avoid-Stay Control Barrier Functions for High-Dimensional Black-Box Systems
Donggeon David Oh, Duy P. Nguyen, Gongkai Yuan +3
Robots must complete their tasks and maintain the achieved outcomes while avoiding safety failures at all times. Strict reach-avoid-stay (sRAS) formalizes this requirement: safely…
Corrigible Assistance in One Round: Pragmatic-Pedagogic Best Response
Elle Lazarski, Jaime Fernández Fisac
Assistance games formalize human-robot collaboration under asymmetric information: the human knows the goal, while the robot must infer it from observation and interaction in order…
Safety with Agency: Human-Centered Safety Filter with Application to AI-Assisted Motorsports
Donggeon David Oh, Justin Lidard, Haimin Hu +8
We propose a human-centered safety filter (HCSF) for shared autonomy that significantly enhances system safety without compromising human agency. Our HCSF is built on a neural safe…
MAGICS: Adversarial RL with Minimax Actors Guided by Implicit Critic Stackelberg for Convergent Neural Synthesis of Robot Safety
Justin Wang, Haimin Hu, Duy Phuong Nguyen +1
While robust optimal control theory provides a rigorous framework to compute robot control policies that are provably safe, it struggles to scale to high-dimensional problems, lead…
Think Deep and Fast: Learning Neural Nonlinear Opinion Dynamics from Inverse Dynamic Games for Split-Second Interactions
Haimin Hu, Jaime Fernández Fisac, Naomi Ehrich Leonard +3
Non-cooperative interactions commonly occur in multi-agent scenarios such as car racing, where an ego vehicle can choose to overtake the rival, or stay behind it until a safe overt…
Blending Data-Driven Priors in Dynamic Games
Justin Lidard, Haimin Hu, Asher Hancock +9
As intelligent robots like autonomous vehicles become increasingly deployed in the presence of people, the extent to which these systems should leverage model-based game-theoretic…
Who Plays First? Optimizing the Order of Play in Stackelberg Games with Many Robots
Haimin Hu, Gabriele Dragotto, Zixu Zhang +3
We consider the multi-agent spatial navigation problem of computing the socially optimal order of play, i.e., the sequence in which the agents commit to their decisions, and its as…