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cs.RO2025
Structured Imitation Learning of Interactive Policies through Inverse Games
Max M. Sun, Todd Murphey
Generative model-based imitation learning methods have recently achieved strong results in learning high-complexity motor skills from human demonstrations. However, imitation learn…
cs.RO2025
Scalable Coverage Trajectory Synthesis on GPUs as Statistical Inference
Max M. Sun, Jueun Kwon, Todd Murphey
Coverage motion planning is essential to a wide range of robotic tasks. Unlike conventional motion planning problems, which reason over temporal sequences of states, coverage motio…
cs.RO2025
Volumetric Ergodic Control
Jueun Kwon, Max M. Sun, Todd Murphey
Ergodic control synthesizes optimal coverage behaviors over spatial distributions for nonlinear systems. However, existing formulations model the robot as a non-volumetric point, w…