31 citations · 58 across the 38 of their papers we have counts for
6 papers · 1 filter
Joint Model-based Model-free Diffusion for Planning with Constraints
Wonsuhk Jung, Utkarsh A. Mishra, Nadun Ranawaka Arachchige +3
Model-free diffusion planners have shown great promise for robot motion planning, but practical robotic systems often require combining them with model-based optimization modules t…
Ask, Reason, Assist: Robot Collaboration via Natural Language and Temporal Logic
Dan BW Choe, Sundhar Vinodh Sangeetha, Steven Emanuel +3
Increased robot deployment, such as in warehousing, has revealed a need for collaboration among heterogeneous robot teams to resolve unforeseen conflicts. To this end, we propose a…
Language Conditioning Improves Accuracy of Aircraft Goal Prediction in Non-Towered Airspace
Sundhar Vinodh Sangeetha, Chih-Yuan Chiu, Sarah H. Q. Li +1
Autonomous aircraft must safely operate in non-towered airspace, where coordination relies on voice-based communication among human pilots. Safe operation requires an aircraft to p…
SAIL: Faster-than-Demonstration Execution of Imitation Learning Policies
Nadun Ranawaka Arachchige, Zhenyang Chen, Wonsuhk Jung +8
Offline Imitation Learning (IL) methods such as Behavior Cloning are effective at acquiring complex robotic manipulation skills. However, existing IL-trained policies are confined…
Seeing, Saying, Solving: An LLM-to-TL Framework for Cooperative Robots
Dan BW Choe, Sundhar Vinodh Sangeetha, Steven Emanuel +3
Increased robot deployment, such as in warehousing, has revealed a need for seamless collaboration among heterogeneous robot teams to resolve unforeseen conflicts. To address this…
Provably-Safe Neural Network Training Using Hybrid Zonotope Reachability Analysis
Long Kiu Chung, Shreyas Kousik
Even though neural networks are being increasingly deployed in safety-critical control applications, it remains difficult to enforce constraints on their output, meaning that it is…