20 citations · 50 across the 27 of their papers we have counts for
5 papers · 1 filter
On Infusing Reachability-Based Safety Assurance within Planning Frameworks for Human-Robot Vehicle Interactions
Karen Leung, Edward Schmerling, Mengxuan Zhang +4
Action anticipation, intent prediction, and proactive behavior are all desirable characteristics for autonomous driving policies in interactive scenarios. Paramount, however, is en…
Leveraging Neural Network Gradients within Trajectory Optimization for Proactive Human-Robot Interactions
Simon Schaefer, Karen Leung, Boris Ivanovic +1
To achieve seamless human-robot interactions, robots need to intimately reason about complex interaction dynamics and future human behaviors within their motion planning process. H…
Multimodal Deep Generative Models for Trajectory Prediction: A Conditional Variational Autoencoder Approach
Boris Ivanovic, Karen Leung, Edward Schmerling +1
Human behavior prediction models enable robots to anticipate how humans may react to their actions, and hence are instrumental to devising safe and proactive robot planning algorit…
Backpropagation through Signal Temporal Logic Specifications: Infusing Logical Structure into Gradient-Based Methods
Karen Leung, Nikos Aréchiga, Marco Pavone
This paper presents a technique, named STLCG, to compute the quantitative semantics of Signal Temporal Logic (STL) formulas using computation graphs. STLCG provides a platform whic…
Infusing Reachability-Based Safety into Planning and Control for Multi-agent Interactions
Xinrui Wang, Karen Leung, Marco Pavone
Within a robot autonomy stack, the planner and controller are typically designed separately, and serve different purposes. As such, there is often a diffusion of responsibilities w…