4 papers
CoSMO: Conformal Semantic Mapping for Open-World Safe Robot Navigation
Shuqi Wang, Yiwei Zheng, Pingrui Zhang +2
Safe autonomous navigation requires not only geometric obstacle avoidance but also semantic awareness. Different object categories demand different safety clearances, and the set o…
Information-Theoretic Adaptive Cooling for Deterministic MPPI via Entropy Feedback
Shuqi Wang, Wenrong Sun, Tao Han +2
This paper investigates deterministic optimal control using Model Predictive Path Integral (MPPI) control, a sampling-based and derivative-free framework well suited for systems wi…
Chance-Constrained Neural MPC under Uncontrollable Agents via Sequential Convex Programming
Shuqi Wang, Mingyang Feng, Yu Chen +2
This work investigates the challenge of ensuring safety guarantees in the presence of uncontrollable agents, whose behaviors are stochastic and depend on both their own and the sys…
SPARC: Prediction-Based Safe Control for Coupled Controllable and Uncontrollable Agents with Conformal Predictions
Shuqi Wang, Siqi Wang, Shaoyuan Li +1
We investigate the problem of safe control synthesis for systems operating in environments with uncontrollable agents whose dynamics are unknown but coupled with those of the contr…