1 citations · 1 across the 12 of their papers we have counts for
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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…
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…
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…
Improving Compositional Generation with Diffusion Models Using Lift Scores
Chenning Yu, Sicun Gao
We introduce a novel resampling criterion using lift scores, for improving compositional generation in diffusion models. By leveraging the lift scores, we evaluate whether generate…
Safe Human Robot Navigation in Warehouse Scenario
Seth Farrell, Chenghao Li, Hongzhan Yu +3
The integration of autonomous mobile robots (AMRs) in industrial environments, particularly warehouses, has revolutionized logistics and operational efficiency. However, ensuring t…
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…
Estimating Control Barriers from Offline Data
Hongzhan Yu, Seth Farrell, Ryo Yoshimitsu +3
Learning-based methods for constructing control barrier functions (CBFs) are gaining popularity for ensuring safe robot control. A major limitation of existing methods is their rel…