51 citations · 196 across the 44 of their papers we have counts for
12 papers · 1 filter
A System-Level View on Out-of-Distribution Data in Robotics
Rohan Sinha, Apoorva Sharma, Somrita Banerjee +6
When testing conditions differ from those represented in training data, so-called out-of-distribution (OOD) inputs can mar the reliability of learned components in the modern robot…
Online Distribution Shift Detection via Recency Prediction
Rachel Luo, Rohan Sinha, Yixiao Sun +5
When deploying modern machine learning-enabled robotic systems in high-stakes applications, detecting distribution shift is critical. However, most existing methods for detecting d…
Designing ReachBot: System Design Process with a Case Study of a Martian Lava Tube Mission
Stephanie Newdick, Tony G. Chen, Benjamin Hockman +3
In this paper we present a trade study-based method to optimize the architecture of ReachBot, a new robotic concept that uses deployable booms as prismatic joints for mobility in e…
Cyber-Resilient Privacy Preservation and Secure Billing Approach for Smart Energy Metering Devices
Venkatesh Kumar M
Most of the smart applications, such as smart energy metering devices, demand strong privacy preservation to strengthen data privacy. However, it is difficult to protect the privac…
Data Lifecycle Management in Evolving Input Distributions for Learning-based Aerospace Applications
Somrita Banerjee, Apoorva Sharma, Edward Schmerling +3
As input distributions evolve over a mission lifetime, maintaining performance of learning-based models becomes challenging. This paper presents a framework to incrementally retrai…
Motion Planning for a Climbing Robot with Stochastic Grasps
Stephanie Newdick, Nitin Ongole, Tony G. Chen +3
Motion planning for a multi-limbed climbing robot must consider the robot's posture, joint torques, and how it uses contact forces to interact with its environment. This paper focu…