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09/21/2023
Generating robotic elliptical excisions with human-like tool-tissue interactions
In surgery, the application of appropriate force levels is critical for ...
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06/07/2023
Anticipating Accidents through Reasoned Simulation
A key goal of the System-Theoretic Process Analysis (STPA) hazard analys...
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05/25/2023
Comparison of Pedestrian Prediction Models from Trajectory and Appearance Data for Autonomous Driving
The ability to anticipate pedestrian motion changes is a critical capabi...
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05/05/2023
Interactive Acquisition of Fine-grained Visual Concepts by Exploiting Semantics of Generic Characterizations in Discourse
Interactive Task Learning (ITL) concerns learning about unforeseen domai...
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10/12/2022
DiPA: Diverse and Probabilistically Accurate Interactive Prediction
Accurate prediction is important for operating an autonomous vehicle in ...
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09/24/2022
Learning robotic cutting from demonstration: Non-holonomic DMPs using the Udwadia-Kalaba method
Dynamic Movement Primitives (DMPs) offer great versatility for encoding,...
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09/20/2022
Testing Rare Downstream Safety Violations via Upstream Adaptive Sampling of Perception Error Models
Testing black-box perceptual-control systems in simulation faces two dif...
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07/29/2022
Perspectives on the System-level Design of a Safe Autonomous Driving Stack
Achieving safe and robust autonomy is the key bottleneck on the path tow...
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07/18/2022
A Novel Design and Evaluation of a Dactylus-Equipped Quadruped Robot for Mobile Manipulation
Quadruped robots are usually equipped with additional arms for manipulat...
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06/22/2022
On Specifying for Trustworthiness
As autonomous systems are becoming part of our daily lives, ensuring the...
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06/22/2022
Beyond RMSE: Do machine-learned models of road user interaction produce human-like behavior?
Autonomous vehicles use a variety of sensors and machine-learned models ...
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06/20/2022
Achieving Dexterous Bidirectional Interaction in Uncertain Conditions for Medical Robotics
Medical robotics can help improve and extend the reach of healthcare ser...
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05/21/2022
Risk-Driven Design of Perception Systems
Modern autonomous systems rely on perception modules to process complex ...
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03/15/2022
Flash: Fast and Light Motion Prediction for Autonomous Driving with Bayesian Inverse Planning and Learned Motion Profiles
Motion prediction of road users in traffic scenes is critical for autono...
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02/25/2022
Learning physics-informed simulation models for soft robotic manipulation: A case study with dielectric elastomer actuators
Soft actuators offer a safe and adaptable approach to robotic tasks like...
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02/12/2022
Robust Learning from Observation with Model Misspecification
Imitation learning (IL) is a popular paradigm for training policies in r...
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01/27/2022
Vision Checklist: Towards Testable Error Analysis of Image Models to Help System Designers Interrogate Model Capabilities
Using large pre-trained models for image recognition tasks is becoming i...
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10/09/2021
Active Altruism Learning and Information Sufficiency for Autonomous Driving
Safe interaction between vehicles requires the ability to choose actions...
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09/21/2021
Beyond Discriminant Patterns: On the Robustness of Decision Rule Ensembles
Local decision rules are commonly understood to be more explainable, due...
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09/16/2021
Automated Testing with Temporal Logic Specifications for Robotic Controllers using Adaptive Experiment Design
Many robot control scenarios involve assessing system robustness against...
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08/06/2021
Attainment Regions in Feature-Parameter Space for High-Level Debugging in Autonomous Robots
Understanding a controller's performance in different scenarios is cruci...
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08/05/2021
Interpretable Goal Recognition in the Presence of Occluded Factors for Autonomous Vehicles
Recognising the goals or intentions of observed vehicles is a key step t...
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07/07/2021
Learning Time-Invariant Reward Functions through Model-Based Inverse Reinforcement Learning
Inverse reinforcement learning is a paradigm motivated by the goal of le...
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06/21/2021
Automatic Synthesis of Experiment Designs from Probabilistic Environment Specifications
This paper presents an extension to the probabilistic programming langua...
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05/14/2021
Building Affordance Relations for Robotic Agents - A Review
Affordances describe the possibilities for an agent to perform actions w...
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05/02/2021
Learning data association without data association: An EM approach to neural assignment prediction
Data association is a fundamental component of effective multi-object tr...
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03/16/2021
Formation Control for UAVs Using a Flux Guided Approach
While multiple studies have proposed methods for the formation control o...
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11/02/2020
ProbRobScene: A Probabilistic Specification Language for 3D Robotic Manipulation Environments
Robotic control tasks are often first run in simulation for the purposes...
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11/01/2020
PILOT: Efficient Planning by Imitation Learning and Optimisation for Safe Autonomous Driving
Achieving the right balance between planning quality, safety and runtime...
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10/29/2020
Affordance-Aware Handovers with Human Arm Mobility Constraints
Reasoning about object handover configurations allows an assistive agent...
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09/18/2020
Counterfactual Explanation and Causal Inference in Service of Robustness in Robot Control
We propose an architecture for training generative models of counterfact...
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08/18/2020
Residual Learning from Demonstration
Contacts and friction are inherent to nearly all robotic manipulation ta...
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08/03/2020
Action sequencing using visual permutations
Humans can easily reason about the sequence of high level actions needed...
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07/23/2020
Semi-supervised Learning From Demonstration Through Program Synthesis: An Inspection Robot Case Study
Semi-supervised learning improves the performance of supervised machine ...
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07/04/2020
Self-Assessment of Grasp Affordance Transfer
Reasoning about object grasp affordances allows an autonomous agent to e...
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06/16/2020
Learning from Demonstration with Weakly Supervised Disentanglement
Robotic manipulation tasks, such as wiping with a soft sponge, require c...
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06/08/2020
From Demonstrations to Task-Space Specifications: Using Causal Analysis to Extract Rule Parameterization from Demonstrations
Learning models of user behaviour is an important problem that is broadl...
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04/15/2020
Affordances in Robotic Tasks – A Survey
Affordances are key attributes of what must be perceived by an autonomou...
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02/06/2020
Integrating Planning and Interpretable Goal Recognition for Autonomous Driving
The ability to predict the intentions and driving trajectories of other ...
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02/06/2020
A Two-Stage Optimization Approach to Safe-by-Design Planning for Autonomous Driving
Lessons learned from the increasing diversity of road trial deployments ...
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02/04/2020
Learning robotic ultrasound scanning using probabilistic temporal ranking
This paper addresses a common class of problems where a robot learns to ...
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02/03/2020
Elaborating on Learned Demonstrations with Temporal Logic Specifications
Most current methods for learning from demonstrations assume that those ...
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12/18/2019
Lower Dimensional Kernels for Video Discriminators
This work presents an analysis of the discriminators used in Generative ...
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11/29/2019
Learning with Modular Representations for Long-Term Multi-Agent Motion Predictions
Context plays a significant role in the generation of motion for dynamic...
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09/16/2019
Surfing on an uncertain edge: Precision cutting of soft tissue using torque-based medium classification
Precision cutting of soft-tissue remains a challenging problem in roboti...
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07/31/2019
Disentangled Relational Representations for Explaining and Learning from Demonstration
Learning from demonstration is an effective method for human users to in...
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07/23/2019
E-HBA: Using Action Policies for Expert Advice and Agent Typification
Past research has studied two approaches to utilise predefined policy se...
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07/22/2019
Comparative Evaluation of Multiagent Learning Algorithms in a Diverse Set of Ad Hoc Team Problems
This paper is concerned with evaluating different multiagent learning (M...
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07/18/2019
Composing Diverse Policies for Temporally Extended Tasks
Temporally extended and sequenced robot motion tasks are often character...
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07/15/2019