7 citations · 9 across the 9 of their papers we have counts for
6 papers · 1 filter
Spatio-Temporal Grounding of Large Language Models from Perception Streams
Jacob Anderson, Bardh Hoxha, Georgios Fainekos +2
Embodied-AI agents must reason about how objects move and interact in 3-D space over time, yet existing smaller frontier Large Language Models (LLMs) still mis-handle fine-grained…
Risk-aware MPPI for Stochastic Hybrid Systems
Hardik Parwana, Mitchell Black, Bardh Hoxha +4
Path Planning for stochastic hybrid systems presents a unique challenge of predicting distributions of future states subject to a state-dependent dynamics switching function. In th…
Querying Perception Streams with Spatial Regular Expressions
Jacob Anderson, Georgios Fainekos, Bardh Hoxha +2
Perception in fields like robotics, manufacturing, and data analysis generates large volumes of temporal and spatial data to effectively capture their environments. However, sortin…
Model Predictive Path Integral Methods with Reach-Avoid Tasks and Control Barrier Functions
Hardik Parwana, Mitchell Black, Georgios Fainekos +3
The rapid advancement of robotics necessitates robust tools for developing and testing safe control architectures in dynamic and uncertain environments. Ensuring safety and reliabi…
CBFKIT: A Control Barrier Function Toolbox for Robotics Applications
Mitchell Black, Georgios Fainekos, Bardh Hoxha +2
This paper introduces CBFKit, a Python/ROS toolbox for safe robotics planning and control under uncertainty. The toolbox provides a general framework for designing control barrier…
Feasible Space Monitoring for Multiple Control Barrier Functions with application to Large Scale Indoor Navigation
Hardik Parwana, Mitchell Black, Bardh Hoxha +4
Quadratic programs (QP) subject to multiple time-dependent control barrier function (CBF) based constraints have been used to design safety-critical controllers. However, ensuring…