no code implementations • 5 Mar 2024 • Zihao Dong, Shayegan Omidshafiei, Michael Everett
We demonstrate the proposed algorithm can verify collision-free properties of a MA-NFL with agents trained to imitate a collision avoidance algorithm (Reciprocal Velocity Obstacles).
1 code implementation • 26 Dec 2023 • Michael Potter, Stefano Maxenti, Michael Everett
Survival Analysis (SA) is about modeling the time for an event of interest to occur, which has important applications in many fields, including medicine, defense, finance, and aerospace.
no code implementations • 10 Nov 2023 • Xiaoyi Cai, Siddharth Ancha, Lakshay Sharma, Philip R. Osteen, Bernadette Bucher, Stephen Phillips, Jiuguang Wang, Michael Everett, Nicholas Roy, Jonathan P. How
For uncertainty quantification, we efficiently model both aleatoric and epistemic uncertainty by learning discrete traction distributions and probability densities of the traction predictor's latent features.
no code implementations • 29 Jun 2023 • Anthony Francis, Claudia Pérez-D'Arpino, Chengshu Li, Fei Xia, Alexandre Alahi, Rachid Alami, Aniket Bera, Abhijat Biswas, Joydeep Biswas, Rohan Chandra, Hao-Tien Lewis Chiang, Michael Everett, Sehoon Ha, Justin Hart, Jonathan P. How, Haresh Karnan, Tsang-Wei Edward Lee, Luis J. Manso, Reuth Mirksy, Sören Pirk, Phani Teja Singamaneni, Peter Stone, Ada V. Taylor, Peter Trautman, Nathan Tsoi, Marynel Vázquez, Xuesu Xiao, Peng Xu, Naoki Yokoyama, Alexander Toshev, Roberto Martín-Martín
A major challenge to deploying robots widely is navigation in human-populated environments, commonly referred to as social robot navigation.
1 code implementation • 9 Dec 2022 • Michael Everett, Rudy Bunel, Shayegan Omidshafiei
To address this issue, we introduce DRIP, an algorithm with a refinement loop on the relaxation domain, which substantially tightens the BP set bounds.
no code implementations • 14 Oct 2022 • Nicholas Rober, Michael Everett, Songan Zhang, Jonathan P. How
We introduce a hybrid partitioning method that uses both target set partitioning (TSP) and backreachable set partitioning (BRSP) to overcome a lower bound on estimation error that is present when using BRSP.
no code implementations • 28 Sep 2022 • Nicholas Rober, Sydney M. Katz, Chelsea Sidrane, Esen Yel, Michael Everett, Mykel J. Kochenderfer, Jonathan P. How
As neural networks (NNs) become more prevalent in safety-critical applications such as control of vehicles, there is a growing need to certify that systems with NN components are safe.
1 code implementation • 14 Apr 2022 • Nicholas Rober, Michael Everett, Jonathan P. How
The increasing prevalence of neural networks (NNs) in safety-critical applications calls for methods to certify their behavior and guarantee safety.
1 code implementation • 25 Mar 2022 • Xiaoyi Cai, Michael Everett, Jonathan Fink, Jonathan P. How
Motion planning in off-road environments requires reasoning about both the geometry and semantics of the scene (e. g., a robot may be able to drive through soft bushes but not a fallen log).
1 code implementation • 7 Mar 2022 • Dong-Ki Kim, Matthew Riemer, Miao Liu, Jakob N. Foerster, Michael Everett, Chuangchuang Sun, Gerald Tesauro, Jonathan P. How
An effective approach that has recently emerged for addressing this non-stationarity is for each agent to anticipate the learning of other agents and influence the evolution of future policies towards desirable behavior for its own benefit.
1 code implementation • 30 Sep 2021 • Michael Everett
Learning-based methods could provide solutions to many of the long-standing challenges in control.
no code implementations • 21 Sep 2021 • Andrea Tagliabue, Dong-Ki Kim, Michael Everett, Jonathan P. How
Our approach opens the possibility of zero-shot transfer from a single demonstration collected in a nominal domain, such as a simulation or a robot in a lab/controlled environment, to a domain with bounded model errors/perturbations.
1 code implementation • 9 Aug 2021 • Michael Everett, Golnaz Habibi, Chuangchuang Sun, Jonathan P. How
While the solutions are less tight than previous (semidefinite program-based) methods, they are substantially faster to compute, and some of those computational time savings can be used to refine the bounds through new input set partitioning techniques, which is shown to dramatically reduce the tightness gap.
no code implementations • 25 Feb 2021 • Bruno Brito, Michael Everett, Jonathan P. How, Javier Alonso-Mora
Robotic navigation in environments shared with other robots or humans remains challenging because the intentions of the surrounding agents are not directly observable and the environment conditions are continuously changing.
1 code implementation • 5 Jan 2021 • Michael Everett, Golnaz Habibi, Jonathan P. How
Neural Networks (NNs) can provide major empirical performance improvements for robotic systems, but they also introduce challenges in formally analyzing those systems' safety properties.
no code implementations • 1 Oct 2020 • Michael Everett, Golnaz Habibi, Jonathan P. How
Recent works approximate the propagation of sets through nonlinear activations or partition the uncertainty set to provide a guaranteed outer bound on the set of possible NN outputs.
no code implementations • 11 Apr 2020 • Michael Everett, Bjorn Lutjens, Jonathan P. How
Deep Neural Network-based systems are now the state-of-the-art in many robotics tasks, but their application in safety-critical domains remains dangerous without formal guarantees on network robustness.
1 code implementation • 16 Feb 2020 • Rose E. Wang, Michael Everett, Jonathan P. How
There are several real-world tasks that would benefit from applying multiagent reinforcement learning (MARL) algorithms, including the coordination among self-driving cars.
no code implementations • 18 Jan 2020 • Samaneh Hosseini Semnani, Hugh Liu, Michael Everett, Anton de Ruiter, Jonathan P. How
This paper introduces a hybrid algorithm of deep reinforcement learning (RL) and Force-based motion planning (FMP) to solve distributed motion planning problem in dense and dynamic environments.
2 code implementations • 9 Jan 2020 • Jesus Tordesillas, Brett T. Lopez, Michael Everett, Jonathan P. How
The standard approaches that ensure safety by enforcing a "stop" condition in the free-known space can severely limit the speed of the vehicle, especially in situations where much of the world is unknown.
no code implementations • 28 Oct 2019 • Björn Lütjens, Michael Everett, Jonathan P. How
Deep Neural Network-based systems are now the state-of-the-art in many robotics tasks, but their application in safety-critical domains remains dangerous without formal guarantees on network robustness.
3 code implementations • 24 Oct 2019 • Michael Everett, Yu Fan Chen, Jonathan P. How
Collision avoidance algorithms are essential for safe and efficient robot operation among pedestrians.
1 code implementation • 24 Aug 2019 • Michael Everett, Justin Miller, Jonathan P. How
Context is key information about structured environments that could guide exploration toward the unknown goal location, but the abstract idea is difficult to quantify for use in a planning algorithm.
no code implementations • 19 Oct 2018 • Björn Lütjens, Michael Everett, Jonathan P. How
The importance of predictions that are robust to this distributional shift is evident for safety-critical applications, such as collision avoidance around pedestrians.
6 code implementations • 4 May 2018 • Michael Everett, Yu Fan Chen, Jonathan P. How
This work extends our previous approach to develop an algorithm that learns collision avoidance among a variety of types of dynamic agents without assuming they follow any particular behavior rules.
2 code implementations • 26 Mar 2017 • Yu Fan Chen, Michael Everett, Miao Liu, Jonathan P. How
For robotic vehicles to navigate safely and efficiently in pedestrian-rich environments, it is important to model subtle human behaviors and navigation rules (e. g., passing on the right).
no code implementations • 26 Sep 2016 • Yu Fan Chen, Miao Liu, Michael Everett, Jonathan P. How
Finding feasible, collision-free paths for multiagent systems can be challenging, particularly in non-communicating scenarios where each agent's intent (e. g. goal) is unobservable to the others.
Multiagent Systems