Learning-aware safety for interactive autonomy
One of the outstanding challenges for the widespread deployment of robotic systems like
autonomous vehicles is ensuring safe interaction with humans without sacrificing efficiency …
autonomous vehicles is ensuring safe interaction with humans without sacrificing efficiency …
Deception game: Closing the safety-learning loop in interactive robot autonomy
An outstanding challenge for the widespread deployment of robotic systems like
autonomous vehicles is ensuring safe interaction with humans without sacrificing …
autonomous vehicles is ensuring safe interaction with humans without sacrificing …
Mixed-Strategy Nash Equilibrium for Crowd Navigation
We address the problem of finding mixed-strategy Nash equilibrium for crowd navigation.
Mixed-strategy Nash equilibrium provides a rigorous model for the robot to anticipate …
Mixed-strategy Nash equilibrium provides a rigorous model for the robot to anticipate …
Risk-Calibrated Human-Robot Interaction via Set-Valued Intent Prediction
J Lidard, H Pham, A Bachman, B Boateng… - arXiv preprint arXiv …, 2024 - arxiv.org
Tasks where robots must cooperate with humans, such as navigating around a cluttered
home or sorting everyday items, are challenging because they exhibit a wide range of valid …
home or sorting everyday items, are challenging because they exhibit a wide range of valid …
RACP: Risk-Aware Contingency Planning with Multi-Modal Predictions
For an autonomous vehicle to operate reliably within real-world traffic scenarios, it is
imperative to assess the repercussions of its prospective actions by anticipating the …
imperative to assess the repercussions of its prospective actions by anticipating the …
Blending Data-Driven Priors in Dynamic Games
As intelligent robots like autonomous vehicles become increasingly deployed in the
presence of people, the extent to which these systems should leverage model-based game …
presence of people, the extent to which these systems should leverage model-based game …
A Sequential Quadratic Programming Approach to the Solution of Open-Loop Generalized Nash Equilibria for Autonomous Racing
EL Zhu, F Borrelli - arXiv preprint arXiv:2404.00186, 2024 - arxiv.org
Dynamic games can be an effective approach for modeling interactive behavior between
multiple competitive agents in autonomous racing and they provide a theoretical framework …
multiple competitive agents in autonomous racing and they provide a theoretical framework …
Auto-Encoding Bayesian Inverse Games
When multiple agents interact in a common environment, each agent's actions impact others'
future decisions, and noncooperative dynamic games naturally capture this coupling. In …
future decisions, and noncooperative dynamic games naturally capture this coupling. In …
Scalable Multi-modal Model Predictive Control via Duality-based Interaction Predictions
H Kim, SH Nair, F Borrelli - arXiv preprint arXiv:2402.01116, 2024 - arxiv.org
We propose a hierarchical architecture designed for scalable real-time Model Predictive
Control (MPC) in complex, multi-modal traffic scenarios. This architecture comprises two key …
Control (MPC) in complex, multi-modal traffic scenarios. This architecture comprises two key …
Intent Demonstration in General-Sum Dynamic Games via Iterative Linear-Quadratic Approximations
Autonomous agents should be able to coordinate with other agents without knowing their
intents ahead of time. While prior work has studied how agents can gather information about …
intents ahead of time. While prior work has studied how agents can gather information about …