Search Results for author:
Found 27 papers, 11 papers with code
Guaranteed Completion of Complex Tasks via Temporal Logic Trees and Hamilton-Jacobi Reachability
By ensuring a temporal logic tree has no leaking corners, we know the temporal logic tree correctly verifies the existence of control policies that satisfy the specified task.
Sequential Modeling of Complex Marine Navigation: Case Study on a Passenger Vessel (Student Abstract)
The maritime industry's continuous commitment to sustainability has led to a dedicated exploration of methods to reduce vessel fuel consumption.
Deep Reinforcement Learning-based Intelligent Traffic Signal Controls with Optimized CO2 emissions
Nowadays, transportation networks face the challenge of sub-optimal control policies that can have adverse effects on human health, the environment, and contribute to traffic congestion.
LeTFuser: Light-weight End-to-end Transformer-Based Sensor Fusion for Autonomous Driving with Multi-Task Learning
In end-to-end autonomous driving, the utilization of existing sensor fusion techniques and navigational control methods for imitation learning proves inadequate in challenging situations that involve numerous dynamic agents.
Fuel Consumption Prediction for a Passenger Ferry using Machine Learning and In-service Data: A Comparative Study
As the importance of eco-friendly transportation increases, providing an efficient approach for marine vessel operation is essential.
Task-Oriented Koopman-Based Control with Contrastive Encoder
We present task-oriented Koopman-based control that utilizes end-to-end reinforcement learning and contrastive encoder to simultaneously learn the Koopman latent embedding, operator, and associated linear controller within an iterative loop.
Multi-Agent Reach-Avoid Games: Two Attackers Versus One Defender and Mixed Integer Programming
Utilizing this result and previous results for the 1 vs. 1 game, we further propose solving the general multi-agent reach-avoid game by determining the defender assignments that can maximize the number of attackers captured via a Mixed Integer Program (MIP).
Efficient Domain Coverage for Vehicles with Second-Order Dynamics via Multi-Agent Reinforcement Learning
Our proposed network architecture includes the incorporation of LSTM and self-attention, which allows the trained policy to adapt to a variable number of agents.
Multi-agent Reinforcement Learning
Reinforcement Learning (RL)
Online Probabilistic Model Identification using Adaptive Recursive MCMC
We suggest the Adaptive Recursive Markov Chain Monte Carlo (ARMCMC) method, which eliminates the shortcomings of conventional online techniques while computing the entire probability density function of model parameters.
DMODE: Differential Monocular Object Distance Estimation Module without Class Specific Information
However, these cues can be misleading for objects with wide-range variation or adversarial situations, which is a challenging aspect of object-agnostic distance estimation.
STPOTR: Simultaneous Human Trajectory and Pose Prediction Using a Non-Autoregressive Transformer for Robot Following Ahead
The proposed architecture divides human motion prediction into two parts: 1) the human trajectory, which is the hip joint 3D position over time and 2) the human pose which is the all other joints 3D positions over time with respect to a fixed hip joint.
DMMGAN: Diverse Multi Motion Prediction of 3D Human Joints using Attention-Based Generative Adverserial Network
We show that our system outperforms the state-of-the-art in human motion prediction while it can predict diverse multi-motion future trajectories with hip movements
Towards Inclusive HRI: Using Sim2Real to Address Underrepresentation in Emotion Expression Recognition
Robots and artificial agents that interact with humans should be able to do so without bias and inequity, but facial perception systems have notoriously been found to work more poorly for certain groups of people than others.
OptimizedDP: An Efficient, User-friendly Library For Optimal Control and Dynamic Programming
This paper introduces OptimizedDP, a high-performance software library that solves time-dependent Hamilton-Jacobi partial differential equation (PDE), computes backward reachable sets with application in robotics, and contains value iterations algorithm implementation for continuous action-state space Markov Decision Process (MDP) while leveraging user-friendliness of Python for different problem specifications without sacrificing efficiency of the core computation.
Asynchronous, Option-Based Multi-Agent Policy Gradient: A Conditional Reasoning Approach
In complex problems with large state and action spaces, it is advantageous to extend MAPG methods to use higher-level actions, also known as options, to improve the policy search efficiency.
Hierarchical Reinforcement Learning
Multi-agent Reinforcement Learning
+3
ARMCMC: Online Bayesian Density Estimation of Model Parameters
Our method shows at-least 70\% improvement in parameter point estimation accuracy and approximately 55\% reduction in tracking error of the value of interest compared to recursive least squares and conventional MCMC.
Gesture2Vec: Clustering Gestures using Representation Learning Methods for Co-speech Gesture Generation
We propose a vector-quantized variational autoencoder structure as well as training techniques to learn a rigorous representation of gesture sequences.
ARMCMC: ONLINE MODEL PARAMETERS DENSITY ESTIMATION IN BAYESIAN PARADIGM
We demonstrate our approach on a challenging benchmark: estimation of parameters in the Hunt-Crossley dynamic model, which models both on/off contact forces applied to soft materials.
LBGP: Learning Based Goal Planning for Autonomous Following in Front
Our deep RL module implicitly estimates human trajectory and produces short-term navigational goals to guide the robot.
MBB: Model-Based Baseline for Global Guidance of Model-Free Reinforcement Learning via Lower-Dimensional Solutions
On the other end, "classical methods" such as optimal control generate solutions without collecting data, but assume that an accurate model of the system and environment is known and are mostly limited to problems with low-dimensional (lo-dim) state spaces.
SFU-Store-Nav: A Multimodal Dataset for Indoor Human Navigation
This article describes a dataset collected in a set of experiments that involves human participants and a robot.
Generating Robust Supervision for Learning-Based Visual Navigation Using Hamilton-Jacobi Reachability
In Bansal et al. (2019), a novel visual navigation framework that combines learning-based and model-based approaches has been proposed.
CRF-LSTM Text Mining Method Unveiling the Pharmacological Mechanism of Off-target Side Effect of Anti-Multiple Myeloma Drugs
Sequence labeling of biomedical entities, e. g., side effects or phenotypes, was a long-term task in BioNLP and MedNLP communities.
BaRC: Backward Reachability Curriculum for Robotic Reinforcement Learning
Our Backward Reachability Curriculum (BaRC) begins policy training from states that require a small number of actions to accomplish the task, and expands the initial state distribution backwards in a dynamically-consistent manner once the policy optimization algorithm demonstrates sufficient performance.
Hamilton-Jacobi Reachability: A Brief Overview and Recent Advances
Hamilton-Jacobi (HJ) reachability analysis is an important formal verification method for guaranteeing performance and safety properties of dynamical systems; it has been applied to many small-scale systems in the past decade.
Systems and Control Dynamical Systems Optimization and Control
FaSTrack: a Modular Framework for Fast and Guaranteed Safe Motion Planning
We propose a new algorithm FaSTrack: Fast and Safe Tracking for High Dimensional systems.
Robotics
Using Neural Networks to Compute Approximate and Guaranteed Feasible Hamilton-Jacobi-Bellman PDE Solutions
To sidestep the curse of dimensionality when computing solutions to Hamilton-Jacobi-Bellman partial differential equations (HJB PDE), we propose an algorithm that leverages a neural network to approximate the value function.
