6 papers
Evaluation of the Ambipolar Diffusion Approximation in Partially Ionized Rarefied Hypersonic Flows
Marisa Petrusky, Iain D. Boyd
Accurate numerical simulation of rarefied hypersonic plasmas is increasingly important for optimization of re-entry spacecraft design and the development of advanced aerospace tech…
Trajectory Design and Budgeted Querying for Digital Twin Calibration
Vladyslava Spitkovska, Dmytro Kuzmenko
Digital-twin calibration requires interaction data that is expensive to collect. We study two acquisition decisions: which trajectories to generate, and when to spend a limited bud…
MoIRA: Modular Instruction Routing Architecture for Multi-Task Robotics
Dmytro Kuzmenko, Nadiya Shvai
Mixture-of-Experts (MoE) approaches have recently gained traction in robotics applications due to their ability to dynamically allocate computational resources and specialize sub-n…
When Robots Say No: The Empathic Ethical Disobedience Benchmark
Dmytro Kuzmenko, Nadiya Shvai
Robots must balance compliance with safety and social expectations as blind obedience can cause harm, while over-refusal erodes trust. Existing safe reinforcement learning (RL) ben…
TD-MPC-Opt: Distilling Model-Based Multi-Task Reinforcement Learning Agents
Dmytro Kuzmenko, Nadiya Shvai
We present a novel approach to knowledge transfer in model-based reinforcement learning, addressing the critical challenge of deploying large world models in resource-constrained e…
Knowledge Transfer in Model-Based Reinforcement Learning Agents for Efficient Multi-Task Learning
Dmytro Kuzmenko, Nadiya Shvai
We propose an efficient knowledge transfer approach for model-based reinforcement learning, addressing the challenge of deploying large world models in resource-constrained environ…