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cs.RO2025
Safety-Aware Imitation Learning via MPC-Guided Disturbance Injection
Le Qiu, Yusuf Umut Ciftci, Somil Bansal
Imitation Learning has provided a promising approach to learning complex robot behaviors from expert demonstrations. However, learned policies can make errors that lead to safety v…
cs.RO2025
Unsupervised Discovery of Failure Taxonomies from Deployment Logs
Aryaman Gupta, Yusuf Umut Ciftci, Somil Bansal
As robotic systems become increasingly integrated into real-world environments, ranging from autonomous vehicles to household assistants, they inevitably encounter diverse and unst…