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cs.RO2026
Pixels to Proofs: Probabilistically-Safe Latent World Model Control via Parallel Conformal Robust MPC
Devesh Nath, Anutam Srinivasan, Haoran Yin +3
We present SLS^2, a framework for safe feedback motion planning from pixels using robust model predictive control (MPC) in learned latent world models. Our approach trains an actio…
cs.RO2025
Formal Safety Verification and Refinement for Generative Motion Planners via Certified Local Stabilization
Devesh Nath, Haoran Yin, Glen Chou
We present a method for formal safety verification of learning-based generative motion planners. Generative motion planners (GMPs) offer advantages over traditional planners, but v…
cs.RO2024
Bayesian Optimization Framework for Efficient Fleet Design in Autonomous Multi-Robot Exploration
David Molina Concha, Jiping Li, Haoran Yin +5
This study addresses the challenge of fleet design optimization in the context of heterogeneous multi-robot fleets, aiming to obtain feasible designs that balance performance and c…