25 citations · 78 across the 50 of their papers we have counts for
9 papers · 1 filter
Safe Model Predictive Diffusion with Shielding
Taekyung Kim, Keyvan Majd, Hideki Okamoto +3
Generating safe, kinodynamically feasible, and optimal trajectories for complex robotic systems is a central challenge in robotics. This paper presents Safe Model Predictive Diffus…
LogSTOP: Temporal Scores over Prediction Sequences for Matching and Retrieval
Avishree Khare, Hideki Okamoto, Bardh Hoxha +2
Neural models such as YOLO and HuBERT can be used to detect local properties such as objects ("car") and emotions ("angry") in individual frames of videos and audio clips respectiv…
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…
GPU-Accelerated Barrier-Rate Guided MPPI Control for Tractor-Trailer Systems
Keyvan Majd, Hardik Parwana, Bardh Hoxha +3
Articulated vehicles such as tractor-trailers, yard trucks, and similar platforms must often reverse and maneuver in cluttered spaces where pedestrians are present. We present how…
STL-GO: Spatio-Temporal Logic with Graph Operators for Distributed Systems with Multiple Network Topologies
Yiqi Zhao, Xinyi Yu, Bardh Hoxha +3
Multi-agent systems (MASs) consisting of a number of autonomous agents that communicate, coordinate, and jointly sense the environment to achieve complex missions can be found in a…
BR-MPPI: Barrier Rate guided MPPI for Enforcing Multiple Inequality Constraints with Learned Signed Distance Field
Hardik Parwana, Taekyung Kim, Kehan Long +4
Model Predictive Path Integral (MPPI) controller is used to solve unconstrained optimal control problems and Control Barrier Function (CBF) is a tool to impose strict inequality co…