5 papers · 1 filter
Safe Probabilistic Planning for Human-Robot Interaction using Conformal Risk Control
Jake Gonzales, Kazuki Mizuta, Karen Leung +1
In this paper, we present a novel probabilistic safe control framework for human-robot interaction that combines control barrier functions (CBFs) with conformal risk control to pro…
Unified Generation-Refinement Planning: Bridging Guided Flow Matching and Sampling-Based MPC for Social Navigation
Kazuki Mizuta, Karen Leung
Robust robot planning in dynamic, human-centric environments remains challenging due to multimodal uncertainty, the need for real-time adaptation, and safety requirements. Optimiza…
STLCG++: A Masking Approach for Differentiable Signal Temporal Logic Specification
Parv Kapoor, Kazuki Mizuta, Eunsuk Kang +1
Signal Temporal Logic (STL) offers a concise yet expressive framework for specifying and reasoning about spatio-temporal behaviors of robotic systems. Attractively, STL admits the…
CoBL-Diffusion: Diffusion-Based Conditional Robot Planning in Dynamic Environments Using Control Barrier and Lyapunov Functions
Kazuki Mizuta, Karen Leung
Equipping autonomous robots with the ability to navigate safely and efficiently around humans is a crucial step toward achieving trusted robot autonomy. However, generating robot p…
Legible and Proactive Robot Planning for Prosocial Human-Robot Interactions
Jasper Geldenbott, Karen Leung
Humans have a remarkable ability to fluently engage in joint collision avoidance in crowded navigation tasks despite the complexities and uncertainties inherent in human behavior.…