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eess.SY2025
Distributionally Robust Imitation Learning: Layered Control Architecture for Certifiable Autonomy
Aditya Gahlawat, Ahmed Aboudonia, Sandeep Banik +5
Imitation learning (IL) enables autonomous behavior by learning from expert demonstrations. While more sample-efficient than comparative alternatives like reinforcement learning, I…
cs.RO2025
A Robust Task-Level Control Architecture for Learned Dynamical Systems
Eshika Pathak, Ahmed Aboudonia, Sandeep Banik +1
Dynamical system (DS)-based learning from demonstration (LfD) is a powerful tool for generating motion plans in the operation ('task') space of robotic systems. However, realizing…
cs.HC2025
Flip Co-op: Cooperative Takeovers in Shared Autonomy
Sandeep Banik, Naira Hovakimyan
Shared autonomy requires principled mechanisms for allocating and transferring control between a human and an autonomous agent. Existing approaches often rely on blending control i…