Existing models of mixed-autonomy weaving ramps characterize how altruistic connected and automated vehicles (CAVs) can improve traffic efficiency at the population level, but provide limited insight into how such behavior emerges from decentralized vehicle interactions or how it is affected by finite populations, hete...
Sheryl Paul, Ke-Xin Wang, Ruo-Lin Li et al.· 0 citations
Safety-aware motion planning remains a challenge in robotics, especially when missions are time-critical and are under complex specifications. In this paper, we propose safety-aware-stl-mppi, a computationally efficient sampling-based receding-horizon planning framework designed to promote satisfaction of constraints e...
Yi-Qi Zhao, Taekyung Kim, Hideki Okamoto et al.· 0 citations
Video-based policy learning is particularly promising, as it illustrates target behaviors without requiring action annotations or embodiment-matched demonstrations. A central challenge is deciding what information should be transferred from the video to the robot. Existing approaches commonly convert visual observation...
Merve Atasever, Keyan Azbijari, Cagan Bakirci et al.· 0 citations
Multi-agent planning problems arise in a variety of engineering applications, such as multi-robot wildfire fighting and unmanned aerial inspection in factories. A particular challenge is the existence of spatio-temporal (i.e., when and/or where an agent should do what) and topological constraints (i.e., how agents shou...
Quadruped robot locomotion policies are often trained using reinforcement learning, which in turn relies heavily on hand-crafted reward functions. Designing reward functions requires substantial manual engineering, and it is often unclear which local rewards will induce the desired global behavior. Shaped rewards from...
Merve Atasever, Keyan Azbijari, Cagan Bakirci et al.· 0 citations
Logic-VLA is introduced, a formal-requirement-aware VLA that conditions on Signal Temporal Logic (STL) specifications supplied at inference time, showing that a single VLA can adapt its behavior to varying formal requirements without requiring a separate policy for each specification.
Celina Shiyu Wang, Yiqi Zhao, Junjie Ye et al.· 1 citation
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