5 papers
Factored Diffusion Policies:Compositionally Generalized Robot Control with a Single Score Network
Sayan Mitra, Ege Yuceel, Noah Giles +1
Robotic tasks are typically specified by a tuple of factors, such as the object to be grasped, the obstacles to be avoided, the color of the target, and so on. Collecting expert de…
Minimal Information Control Invariance via Vector Quantization
Ege Yuceel, Teodor Tchalakov, Sayan Mitra
Safety-critical autonomous systems must satisfy hard state constraints under tight computational and sensing budgets, yet learning-based controllers are often far more complex than…
Active Localization of Unstable Systems with Coarse Information
Ege Yuceel, Daniel Liberzon, Sayan Mitra
We study localization and control for unstable systems under coarse, single-bit sensing. Motivated by understanding the fundamental limitations imposed by such minimal feedback, we…
Omniscient Attacker in Stochastic Security Games with Interdependent Nodes
Yuksel Arslantas, Ahmed Said Donmez, Ege Yuceel +1
The adoption of reinforcement learning for critical infrastructure defense introduces a vulnerability where sophisticated attackers can strategically exploit the defense algorithm'…
Performance-Guided Refinement for Visual Aerial Navigation using Editable Gaussian Splatting in FalconGym 2.0
Yan Miao, Ege Yuceel, Georgios Fainekos +3
Visual policy design is crucial for aerial navigation. However, state-of-the-art visual policies often overfit to a single track and their performance degrades when track geometry…