4 papers
A Counterfactual Reasoning Framework for Fault Diagnosis in Robot Perception Systems
Haeyoon Han, Mahdi Taheri, Soon-Jo Chung +1
Perception systems provide a rich understanding of the environment for autonomous systems, shaping decisions in all downstream modules. Hence, accurate detection and isolation of f…
Closing the Loop Inside Neural Networks: Causality-Guided Layer Adaptation for Fault Recovery Control
Mahdi Taheri, Soon-Jo Chung, Fred Y. Hadaegh
This paper studies the problem of real-time fault recovery control for nonlinear control-affine systems subject to actuator loss of effectiveness faults and external disturbances.…
Array-Based Monte Carlo Tree Search
James Ragan, Fred Y. Hadaegh, Soon-Jo Chung
Monte Carlo Tree Search is a popular method for solving decision making problems. Faster implementations allow for more simulations within the same wall clock time, directly improv…
COFFEE: A Shadow-Resilient Real-Time Pose Estimator for Unknown Tumbling Asteroids using Sparse Neural Networks
Arion Zimmermann, Soon-Jo Chung, Fred Hadaegh
The accurate state estimation of unknown bodies in space is a critical challenge with applications ranging from the tracking of space debris to the shape estimation of small bodies…