18 citations · 51 across the 12 of their papers we have counts for
13 papers
Safe Streaming Flow Planning by Aligning Sampling Dynamics with Execution Dynamics
Seunghwan Jang, Jeongyong Yang, Siddharth Ancha +1
Generative planners based on diffusion/flow matching can learn to synthesize long-horizon trajectories from demonstrations. However, real-world deployment requires (i) enforcing sa…
Revisiting Open-Loop Execution in Robotics: Toward Reactive, Higher-Performing Policies
Michael Zeng, Abhinav Agarwal, Ajay Bati +3
Action chunking --- the practice of predicting a sequence of actions and executing a prefix open-loop --- has emerged as a key enabler of recent progress in imitation learning for…
Anomalies by Synthesis: Anomaly Detection using Generative Diffusion Models for Off-Road Navigation
Siddharth Ancha, Sunshine Jiang, Travis Manderson +4
In order to navigate safely and reliably in off-road and unstructured environments, robots must detect anomalies that are out-of-distribution (OOD) with respect to the training dat…
Streaming Flow Policy: Simplifying diffusion/flow-matching policies by treating action trajectories as flow trajectories
Sunshine Jiang, Xiaolin Fang, Nicholas Roy +3
Recent advances in diffusionflow-matching policies have enabled imitation learning of complex, multi-modal action trajectories. However, they are computationally expensive becau…
Robot Safety Monitoring using Programmable Light Curtains
Karnik Ram, Shobhit Aggarwal, Robert Tamburo +2
As factories continue to evolve into collaborative spaces with multiple robots working together with human supervisors in the loop, ensuring safety for all actors involved becomes…
EVORA: Deep Evidential Traversability Learning for Risk-Aware Off-Road Autonomy
Xiaoyi Cai, Siddharth Ancha, Lakshay Sharma +7
Traversing terrain with good traction is crucial for achieving fast off-road navigation. Instead of manually designing costs based on terrain features, existing methods learn terra…