4 papers · 1 filter
Learning Communication-Conditioned Generative Policies for Decentralized Multi-Agent Collision Avoidance
Prajwal Koirala, Mark Campbell
In this work, we propose a decentralized communication-conditioned generative framework for multi-agent collision avoidance. Agents generate short-horizon action sequences using a…
VGFM: Expressive Robot Policies via Dense Value Guidance in Flow Matching
Prajwal Koirala, Mark Campbell
Recent robot learning paradigms increasingly rely on large offline datasets of robotic interactions to train control policies. Expressive generative models enable rich and multimod…
LexiSafe: Offline Safe Reinforcement Learning with Lexicographic Safety-Reward Hierarchy
Hsin-Jung Yang, Zhanhong Jiang, Prajwal Koirala +3
Offline safe reinforcement learning (RL) is increasingly important for cyber-physical systems (CPS), where safety violations during training are unacceptable and only pre-collected…
LCLA: Language-Conditioned Latent Alignment for Vision-Language Navigation
Nitesh Subedi, Adam Haroon, Samuel Tetteh +3
We propose LCLA (Language-Conditioned Latent Alignment), a framework for vision-language navigation that learns modular perception-action interfaces by aligning sensory observation…