5 papers · 1 filter
Adaptive Smooth Tchebycheff Attention for Multi-Objective Policy Optimization
Alejandro Murillo-Gonzalez, Mahmoud Ali, Lantao Liu
Multi-objective reinforcement learning in robotic domains requires balancing complex, non-convex trade-offs between conflicting objectives. While linear scalarization methods provi…
From Zero to High-Speed Racing: An Autonomous Racing Stack
Hassan Jardali, Durgakant Pushp, Youwei Yu +9
High-speed, head-to-head autonomous racing presents substantial technical and logistical challenges, including precise localization, rapid perception, dynamic planning, and real-ti…
Minimalistic Autonomous Stack for High-Speed Time-Trial Racing
Mahmoud Ali, Hassan Jardali, Youwei Yu +2
Autonomous racing has seen significant advancements, driven by competitions such as the Indy Autonomous Challenge (IAC) and the Abu Dhabi Autonomous Racing League (A2RL). However,…
Chance-Constrained Sampling-Based MPC for Collision Avoidance in Uncertain Dynamic Environments
Ihab S. Mohamed, Mahmoud Ali, Lantao Liu
Navigating safely in dynamic and uncertain environments is challenging due to uncertainties in perception and motion. This letter presents the Chance-Constrained Unscented Model Pr…
Visual-Geometry GP-based Navigable Space for Autonomous Navigation
Mahmoud Ali, Durgkant Pushp, Zheng Chen +1
Autonomous navigation in unknown environments is challenging and demands the consideration of both geometric and semantic information in order to parse the navigability of the envi…