7 papers
HumAIN: Human-Aware Implicit Social Robot Navigation
Daeun Song, Nhat Le, Jeffrey Chen +7
Effective social robot navigation requires sensitivity to human behavior, often revealed through subtle skeletal cues like gait and orientation. We present Human-Aware Implicit Soc…
Dynamic Control Barrier Function Regulation with Vision-Language Models for Safe, Adaptive, and Realtime Visual Navigation
Jeffrey Chen, Rohan Chandra
Robots operating in dynamic, unstructured environments must balance safety and efficiency under potentially limited sensing. While control barrier functions (CBFs) provide principl…
Stereo4DWalker: Learning 4D-aware Embodied Urban Navigation from Internet Stereo Videos
Wentao Zhou, Xuweiyi Chen, Vignesh Rajagopal +3
Despite rapid progress, embodied navigation in dynamic and unstructured urban environments remains brittle. Most existing approaches directly map monocular visual inputs to actions…
Are LLMs The Way Forward? A Case Study on LLM-Guided Reinforcement Learning for Decentralized Autonomous Driving
Timur Anvar, Jeffrey Chen, Yuyan Wang +1
Autonomous vehicle navigation in complex environments such as dense and fast-moving highways and merging scenarios remains an active area of research. A key limitation of RL is its…
Reconstructing Biological Pathways by Applying Selective Incremental Learning to (Very) Small Language Models
Pranta Saha, Joyce Reimer, Brook Byrns +5
The use of generative artificial intelligence (AI) models is becoming ubiquitous in many fields. Though progress continues to be made, general purpose large language AI models (LLM…
LIVEPOINT: Fully Decentralized, Safe, Deadlock-Free Multi-Robot Control in Cluttered Environments with High-Dimensional Inputs
Jeffrey Chen, Rohan Chandra
Fully decentralized, safe, and deadlock-free multi-robot navigation in dynamic, cluttered environments is a critical challenge in robotics. Current methods require exact state meas…
Score: A Rule Engine for the Scone Knowledge Base System
Jeffrey Chen, Scott E. Fahlman
We present Score, a rule engine designed and implemented for the Scone knowledge base system. Scone is a knowledge base system designed for storing and manipulating rich representa…