4 citations · 4 across the 10 of their papers we have counts for
11 papers
Inference-Time Robot Behavior Steering through Physically-Aware Reconfiguration of Task-Structure
Yiyuan Pan, Hanjiang Hu, Shangtao Li +2
A central challenge in deploying robot policies is inference-time policy steering: redirecting a policy to satisfy natural-language preferences unseen in training, without retraini…
VLESA: Vision-Language Embodied Safety Agent for Human Activity Monitoring
Hanjiang Hu, Yiyuan Pan, Jiaxing Li +5
As AI systems increasingly assist humans in physical tasks, ensuring safety becomes paramount -- physical actions carry immediate and irreversible consequences that digital errors…
Emergent Neural Automaton Policies: Learning Symbolic Structure from Visuomotor Trajectories
Yiyuan Pan, Xusheng Luo, Hanjiang Hu +2
Scaling robot learning to long-horizon tasks remains a formidable challenge. While end-to-end policies often lack the structural priors needed for effective long-term reasoning, tr…
From Decoupled to Coupled: Robustness Verification for Learning-based Keypoint Detection with Joint Specifications
Xusheng Luo, Changliu Liu
Keypoint detection underpins many vision tasks, including pose estimation, viewpoint recovery, and 3D reconstruction, yet modern neural models remain vulnerable to small input pert…
Hierarchical Temporal Logic Task and Motion Planning for Multi-Robot Systems
Zhongqi Wei, Xusheng Luo, Changliu Liu
Task and motion planning (TAMP) for multi-robot systems, which integrates discrete task planning with continuous motion planning, remains a challenging problem in robotics. Existin…
Nl2Hltl2Plan: Scaling Up Natural Language Understanding for Multi-Robots Through Hierarchical Temporal Logic Task Representation
Shaojun Xu, Xusheng Luo, Yutong Huang +3
To enable non-experts to specify long-horizon, multi-robot collaborative tasks, language models are increasingly used to translate natural language commands into formal specificati…
Certifying Robustness of Learning-Based Keypoint Detection and Pose Estimation Methods
Xusheng Luo, Tianhao Wei, Simin Liu +6
This work addresses the certification of the local robustness of vision-based two-stage 6D object pose estimation. The two-stage method for object pose estimation achieves superior…
ModelVerification.jl: a Comprehensive Toolbox for Formally Verifying Deep Neural Networks
Tianhao Wei, Hanjiang Hu, Luca Marzari +4
Deep Neural Networks (DNN) are crucial in approximating nonlinear functions across diverse applications, ranging from image classification to control. Verifying specific input-outp…
Simultaneous Task Allocation and Planning for Multi-Robots under Hierarchical Temporal Logic Specifications
Xusheng Luo, Changliu Liu
Research in robotic planning with temporal logic specifications, such as Linear Temporal Logic (LTL), has relied on single formulas. However, as task complexity increases, LTL form…
Simulation-aided Learning from Demonstration for Robotic LEGO Construction
Ruixuan Liu, Alan Chen, Xusheng Luo +1
Recent advancements in manufacturing have a growing demand for fast, automatic prototyping (i.e. assembly and disassembly) capabilities to meet users' needs. This paper studies aut…
Temporal Logic Task Allocation in Heterogeneous Multi-Robot Systems
Xusheng Luo, Michael M. Zavlanos
In this paper, we consider the problem of optimally allocating tasks, expressed as global Linear Temporal Logic (LTL) specifications, to teams of heterogeneous mobile robots. The r…