4 citations · 5 across the 7 of their papers we have counts for
3 papers · 1 filter
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…
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…
DualGuard MPPI: Safe and Performant Optimal Control by Combining Sampling-Based MPC and Hamilton-Jacobi Reachability
Javier Borquez, Luke Raus, Yusuf Umut Ciftci +1
Designing controllers that are both safe and performant is inherently challenging. This co-optimization can be formulated as a constrained optimal control problem, where the cost f…