3 papers
cs.RO2025
MonoMPC: Monocular Vision Based Navigation with Learned Collision Model and Risk-Aware Model Predictive Control
Basant Sharma, Prajyot Jadhav, Pranjal Paul +2
Navigating unknown environments with a single RGB camera is challenging, as the lack of depth information prevents reliable collision-checking. While some methods use estimated dep…
cs.LG2025
MMD-OPT : Maximum Mean Discrepancy Based Sample Efficient Collision Risk Minimization for Autonomous Driving
Basant Sharma, Arun Kumar Singh
We propose MMD-OPT: a sample-efficient approach for minimizing the risk of collision under arbitrary prediction distribution of the dynamic obstacles. MMD-OPT is based on embedding…
cs.RO2025
Trajectory Optimization Under Stochastic Dynamics Leveraging Maximum Mean Discrepancy
Basant Sharma, Arun Kumar Singh
This paper addresses sampling-based trajectory optimization for risk-aware navigation under stochastic dynamics. Typically such approaches operate by computing perturbe…