6 papers · 1 filter
UNCAP: Uncertainty-Guided Neurosymbolic Planning Using Natural Language Communication for Cooperative Autonomous Vehicles
Neel P. Bhatt, Po-han Li, Kushagra Gupta +7
Safe large-scale coordination of multiple cooperative connected autonomous vehicles (CAVs) hinges on communication that is both efficient and interpretable. Existing approaches eit…
Monotonic Transformation Invariant Multi-task Learning
Surya Murthy, Kushagra Gupta, Mustafa O. Karabag +2
Multi-task learning (MTL) algorithms typically rely on schemes that combine different task losses or their gradients through weighted averaging. These methods aim to find Pareto st…
Real-Time Privacy Preservation for Robot Visual Perception
Minkyu Choi, Yunhao Yang, Neel P. Bhatt +6
Many robots (e.g., iRobot's Roomba) operate based on visual observations from live video streams, and such observations may inadvertently include privacy-sensitive objects, such as…
Cooperative Bargaining Games Without Utilities: Mediated Solutions from Direction Oracles
Kushagra Gupta, Surya Murthy, Mustafa O. Karabag +2
Cooperative bargaining games are widely used to model resource allocation and conflict resolution. Traditional solutions assume the mediator can access agents utility function valu…
More Information is Not Always Better: Connections between Zero-Sum Local Nash Equilibria in Feedback and Open-Loop Information Patterns
Kushagra Gupta, Ross Allen, David Fridovich-Keil +1
Non-cooperative dynamic game theory provides a principled approach to modeling sequential decision-making among multiple noncommunicative agents. A key focus has been on finding Na…
A Multi-Fidelity Control Variate Approach for Policy Gradient Estimation
Xinjie Liu, Cyrus Neary, Kushagra Gupta +4
Many reinforcement learning (RL) algorithms are impractical for training in operational systems or computationally expensive high-fidelity simulations, as they require large amount…