5 papers
Learning to Drive on Mars: Visual Multimodal Traversability Estimation for Off-World Navigation
Darren Chiu, Cole Wilson, Andrei Tumbar +2
Autonomous navigation on Mars requires vehicles to distinguish between traversable terrains across diverse and visually challenging environments. However, progress in learning-base…
Steering Multirobot Behavior via Closed-Loop Affine Activation Editing
Satyajeet Das, Darren Chiu, Shashank Hegde +1
Real-world robots need to adapt their behavior beyond the envelope of their pre-trained policy. Policy finetuning or retraining are options, but they risk catastrophic forgetting,…
LEARN: Learning End-to-End Aerial Resource-Constrained Multi-Robot Navigation
Darren Chiu, Zhehui Huang, Ruohai Ge +1
Nano-UAV teams offer great agility yet face severe navigation challenges due to constrained onboard sensing, communication, and computation. Existing approaches rely on high-resolu…
Latent Activation Editing: Inference-Time Refinement of Learned Policies for Safer Multirobot Navigation
Satyajeet Das, Darren Chiu, Zhehui Huang +2
Reinforcement learning has enabled significant progress in complex domains such as coordinating and navigating multiple quadrotors. However, even well-trained policies remain vulne…
SAFE-GIL: SAFEty Guided Imitation Learning for Robotic Systems
Yusuf Umut Ciftci, Darren Chiu, Zeyuan Feng +2
Behavior cloning (BC) is a widely-used approach in imitation learning, where a robot learns a control policy by observing an expert supervisor. However, the learned policy can make…