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A Simple and Efficient Sampling-based Algorithm for General Reachability Analysis


Dec 10, 2021
Thomas Lew, Lucas Janson, Riccardo Bonalli, Marco Pavone


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Personalized Federated Learning of Driver Prediction Models for Autonomous Driving


Dec 02, 2021
Manabu Nakanoya, Junha Im, Hang Qiu, Sachin Katti, Marco Pavone, Sandeep Chinchali


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On the Problem of Reformulating Systems with Uncertain Dynamics as a Stochastic Differential Equation


Nov 11, 2021
Thomas Lew, Apoorva Sharma, James Harrison, Edward Schmerling, Marco Pavone


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ReachBot: A Small Robot for Large Mobile Manipulation Tasks


Oct 20, 2021
Stephanie Schneider, Andrew Bylard, Tony G. Chen, Preston Wang, Mark Cutkosky, Marco Pavone

* 12 pages, 13 figures 

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MTP: Multi-Hypothesis Tracking and Prediction for Reduced Error Propagation


Oct 18, 2021
Xinshuo Weng, Boris Ivanovic, Marco Pavone

* Project page: https://www.xinshuoweng.com/projects/MTP 

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Propagating State Uncertainty Through Trajectory Forecasting


Oct 18, 2021
Boris Ivanovic, Yifeng Lin, Shubham Shrivastava, Punarjay Chakravarty, Marco Pavone

* 8 pages, 6 figures, 4 tables. Fixed section name typo 

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Coordinated Multi-Agent Pathfinding for Drones and Trucks over Road Networks


Oct 17, 2021
Shushman Choudhury, Kiril Solovey, Mykel Kochenderfer, Marco Pavone


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Injecting Planning-Awareness into Prediction and Detection Evaluation


Oct 07, 2021
Boris Ivanovic, Marco Pavone

* 8 pages, 9 figures. arXiv admin note: substantial text overlap with arXiv:2107.10297 

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Data Sharing and Compression for Cooperative Networked Control


Oct 05, 2021
Jiangnan Cheng, Marco Pavone, Sachin Katti, Sandeep Chinchali, Ao Tang

* Accepted by 35th Conference on Neural Information Processing Systems (NeurIPS 2021) 

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Lyapunov-stable neural-network control


Sep 29, 2021
Hongkai Dai, Benoit Landry, Lujie Yang, Marco Pavone, Russ Tedrake

* Published at Robotics: Science and Systems (RSS) in July, 2021 

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Sample-Efficient Safety Assurances using Conformal Prediction


Sep 28, 2021
Rachel Luo, Shengjia Zhao, Jonathan Kuck, Boris Ivanovic, Silvio Savarese, Edward Schmerling, Marco Pavone


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Vision-based Autonomous Disinfection of High Touch Surfaces in Indoor Environments


Aug 25, 2021
Sean Roelofs, Benoit Landry, Myra Kurosu Jalil, Adrian Martin, Saisneha Koppaka, Sindy K. Y. Tang, Marco Pavone


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Towards the Unification and Data-Driven Synthesis of Autonomous Vehicle Safety Concepts


Jul 30, 2021
Andrea Bajcsy, Karen Leung, Edward Schmerling, Marco Pavone


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Bayesian Embeddings for Few-Shot Open World Recognition


Jul 29, 2021
John Willes, James Harrison, Ali Harakeh, Chelsea Finn, Marco Pavone, Steven Waslander


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Joint Optimization of Autonomous Electric Vehicle Fleet Operations and Charging Station Siting


Jul 21, 2021
Justin Luke, Mauro Salazar, Ram Rajagopal, Marco Pavone

* 9 pages, 7 figures. Corrected typos, revised text for clarification purposes, results unchanged. A version of this submission, with minor formatting changes, is to be published in the proceedings of the 24th IEEE International Conference on Intelligent Transportation Systems (ITSC 2021) 

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Rethinking Trajectory Forecasting Evaluation


Jul 21, 2021
Boris Ivanovic, Marco Pavone

* 4 pages, 2 figures 

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Convex Optimization for Trajectory Generation


Jun 16, 2021
Danylo Malyuta, Taylor P. Reynolds, Michael Szmuk, Thomas Lew, Riccardo Bonalli, Marco Pavone, Behcet Acikmese

* 68 pages, 42 figures, 5 tables. This work has been submitted to the IEEE for possible publication 

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Adaptive Robust Model Predictive Control with Matched and Unmatched Uncertainty


May 13, 2021
Rohan Sinha, James Harrison, Spencer M. Richards, Marco Pavone

* Fixed some typos 

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Heterogeneous-Agent Trajectory Forecasting Incorporating Class Uncertainty


Apr 26, 2021
Boris Ivanovic, Kuan-Hui Lee, Pavel Tokmakov, Blake Wulfe, Rowan McAllister, Adrien Gaidon, Marco Pavone

* 17 pages, 12 figures, 5 tables 

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Graph Neural Network Reinforcement Learning for Autonomous Mobility-on-Demand Systems


Apr 23, 2021
Daniele Gammelli, Kaidi Yang, James Harrison, Filipe Rodrigues, Francisco C. Pereira, Marco Pavone


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Particle MPC for Uncertain and Learning-Based Control


Apr 13, 2021
Robert Dyro, James Harrison, Apoorva Sharma, Marco Pavone

* Submitted to International Conference on Intelligent Robots and Systems (IROS) 2021 

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Multi-Agent Algorithms for Collective Behavior: A structural and application-focused atlas


Mar 20, 2021
Federico Rossi, Saptarshi Bandyopadhyay, Michael T. Wolf, Marco Pavone

* Under review for journal publication. Revised and extended version of arXiv:1803.05464 

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Adaptive-Control-Oriented Meta-Learning for Nonlinear Systems


Mar 07, 2021
Spencer M. Richards, Navid Azizan, Jean-Jacques E. Slotine, Marco Pavone


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Sketching Curvature for Efficient Out-of-Distribution Detection for Deep Neural Networks


Feb 24, 2021
Apoorva Sharma, Navid Azizan, Marco Pavone


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Composable Geometric Motion Policies using Multi-Task Pullback Bundle Dynamical Systems


Jan 05, 2021
Andrew Bylard, Riccardo Bonalli, Marco Pavone


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