4 papers
Distributionally Robust Imitation Learning: Layered Control Architecture for Certifiable Autonomy
Aditya Gahlawat, Ahmed Aboudonia, Sandeep Banik +5
Imitation learning (IL) enables autonomous behavior by learning from expert demonstrations. While more sample-efficient than comparative alternatives like reinforcement learning, I…
A Robust Task-Level Control Architecture for Learned Dynamical Systems
Eshika Pathak, Ahmed Aboudonia, Sandeep Banik +1
Dynamical system (DS)-based learning from demonstration (LfD) is a powerful tool for generating motion plans in the operation ('task') space of robotic systems. However, realizing…
Flip Co-op: Cooperative Takeovers in Shared Autonomy
Sandeep Banik, Naira Hovakimyan
Shared autonomy requires principled mechanisms for allocating and transferring control between a human and an autonomous agent. Existing approaches often rely on blending control i…
Integrating Vision Systems and STPA for Robust Landing and Take-Off in VTOL Aircraft
Sandeep Banik, Jinrae Kim, Naira Hovakimyan +3
Vertical take-off and landing (VTOL) unmanned aerial vehicles (UAVs) are versatile platforms widely used in applications such as surveillance, search and rescue, and urban air mobi…