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What Would Removing This Corruption Change? Failure Attribution for Vision-Language-Action Models
Carson Sobolewski, Anjali Parashar, Fei Chen +2
Vision-language-action (VLA) models are sensitive to visual corruptions, but knowing that a corruption is typically harmful does not establish whether removing it would benefit the…
Bayesian Active Learning for Intent Disambiguation in Interactive Robot Planning
Huao Li, Carson Sobolewski, Augustinos Saravanos +3
Interactive robot planning requires robots to infer and execute human intentions from natural language instructions that are often ambiguous, incomplete, or underspecified. Althoug…
Online Slip Detection and Friction Coefficient Estimation for Autonomous Racing
Christopher Oeltjen, Carson Sobolewski, Saleh Faghfoorian +4
Accurate knowledge of the tire-road friction coefficient (TRFC) is essential for vehicle safety, stability, and performance, especially in autonomous racing, where vehicles often o…
Generalizable Image Repair for Robust Visual Control
Carson Sobolewski, Zhenjiang Mao, Kshitij Maruti Vejre +1
Vision-based control relies on accurate perception to achieve robustness. However, image distribution changes caused by sensor noise, adverse weather, and dynamic lighting can degr…