5 papers · 1 filter
What Can One Sentence Fix? A Failure Taxonomy and a Minimal Language Correction for Frozen VLA Policies
Owen Kwon, Pablo Ortega-Kral, Arthur Bucker +1
When a deployed vision-language-action (VLA) policy fails, fine-tuning it again for every new setting is costly, yet the person watching it can usually say what went wrong in one s…
ControlledShifts: Towards Standardizing Robustness Evaluation in Trajectory Prediction Under Distribution Shifts
Ingrid Navarro, Pablo Ortega-Kral, Yutong Duan +2
Trajectory prediction is central to safety in autonomous driving, yet learning-based predictors tend to degrade sharply when encountering scenarios poorly represented by their trai…
ScenarioCharacterization: A Modular Toolkit for Characterizing Safety across Trajectory Datasets
Ingrid Navarro, Yutong Duan, Jonathan Francis +1
We introduce ScenarioCharacterization, an open-source framework for automated, dataset-agnostic profiling of driving scenarios in trajectory datasets. Our framework is packaged as…
SysNav: Multi-Level Systematic Cooperation Enables Real-World, Cross-Embodiment Object Navigation
Haokun Zhu, Zongtai Li, Zihan Liu +8
Object navigation (ObjectNav) in real-world environments is a complex problem that requires simultaneously addressing multiple challenges, including complex spatial structure, long…
Interacting safely with cyclists using Hamilton-Jacobi reachability and reinforcement learning
Aarati Andrea Noronha, Jean Oh
In this paper, we present a framework for enabling autonomous vehicles to interact with cyclists in a manner that balances safety and optimality. The approach integrates Hamilton-J…