4 papers · 1 filter
D-SafeMPC: Diffusion-Driven Safe Model Predictive Control with Discrete-Time Control Barrier Functions
Erdi Sayar, Ersin Daş, Joel W. Burdick +2
A key limitation on the use of diffusion models in robotic planning is their inability to inherently enforce safety or dynamical constraints, which often results in physically infe…
Exp2VLA: Enabling Vision-Language-Action for Drone Navigation from Expert Demonstrations
Van Huyen Dang, Kabilesh Rajendran, Erdi Sayar +1
Vision-language-action (VLA) models open a new path toward intuitive robot control by directly linking perception, language, and action in a single end-to-end framework. Yet for UA…
Fuzzy Logic Theory-based Adaptive Reward Shaping for Robust Reinforcement Learning (FARS)
Hürkan Şahin, Van Huyen Dang, Erdi Sayar +2
Reinforcement learning (RL) often struggles in real-world tasks with high-dimensional state spaces and long horizons, where sparse or fixed rewards severely slow down exploration a…
Estimation of Regions of Attraction for Nonlinear Systems via Coordinate-Transformed TS Models
Artun Sel, Mehmet Koruturk, Erdi Sayar
This paper presents a novel method for estimating larger Region of Attractions (ROAs) for continuous-time nonlinear systems modeled via the Takagi-Sugeno (TS) framework. While clas…