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Autonomous driving holds promise for increased safety, optimized traffic management, and a new level of convenience in transportation. While model-based reinforcement learning approaches such as MuZero enables long-term planning, the…

Accurate motion forecasting is crucial for safe autonomous driving (AD). This study proposes CoT-Drive, a novel approach that enhances motion forecasting by leveraging large language models (LLMs) and a chain-of-thought (CoT) prompting…

Online planning under uncertainty in partially observable domains is an essential capability in robotics and AI. The partially observable Markov decision process (POMDP) is a mathematically principled framework for addressing…

Our goal is to enable robots to plan sequences of tabletop actions to push a block with unknown physical properties to a desired goal pose. We approach this problem by learning the constituent models of a Partially-Observable Markov…

This paper proposes a novel learning-based control policy with strong generalizability to new environments that enables a mobile robot to navigate autonomously through spaces filled with both static obstacles and dense crowds of…

Online motion planning is a challenging problem for intelligent robots moving in dense environments with dynamic obstacles, e.g., crowds. In this work, we propose a novel approach for optimal and safe online motion planning with minimal…

Motion planning of autonomous agents in partially known environments with incomplete information is a challenging problem, particularly for complex tasks. This paper proposes a model-free reinforcement learning approach to address this…

Safe interaction with human drivers is one of the primary challenges for autonomous vehicles. In order to plan driving maneuvers effectively, the vehicle's control system must infer and predict how humans will behave based on their latent…

Crowd navigation has received increasing attention from researchers over the last few decades, resulting in the emergence of numerous approaches aimed at addressing this problem to date. Our proposed approach couples agent motion prediction…

State of the art methods for robotic path planning in dynamic environments, such as crowds or traffic, rely on hand crafted motion models for agents. These models often do not reflect interactions of agents in real world scenarios. To…

The fast-growing demand for fully autonomous aerial operations in shared spaces necessitates developing trustworthy agents that can safely and seamlessly navigate in crowded, dynamic spaces. In this work, we propose Social Robot Tree Search…

When mobile robots maneuver near people, they run the risk of rudely blocking their paths; but not all people behave the same around robots. People that have not noticed the robot are the most difficult to predict. This paper investigates…

Automated vehicles require the ability to cooperate with humans for smooth integration into today's traffic. While the concept of cooperation is well known, developing a robust and efficient cooperative trajectory planning method is still a…

This paper addresses the challenge of enabling a single robot to effectively assist multiple humans in decision-making for task planning domains. We introduce a comprehensive framework designed to enhance overall team performance by…

Tree search has become as a representative framework for test-time reasoning with large language models (LLMs), exemplified by methods such as Tree-of-Thought and Monte Carlo Tree Search. However, it remains difficult to provide instant and…

Safe and reliable autonomy solutions are a critical component of next-generation intelligent transportation systems. Autonomous vehicles in such systems must reason about complex and dynamic driving scenes in real time and anticipate the…

Efficient driving in urban traffic scenarios requires foresight. The observation of other traffic participants and the inference of their possible next actions depending on the own action is considered cooperative prediction and planning.…

Planning under partial obervability is essential for autonomous robots. A principled way to address such planning problems is the Partially Observable Markov Decision Process (POMDP). Although solving POMDPs is computationally intractable,…

Decision-making in dense traffic scenarios is challenging for automated vehicles (AVs) due to potentially stochastic behaviors of other traffic participants and perception uncertainties (e.g., tracking noise and prediction errors, etc.).…

In shared autonomy, a user and autonomous system work together to achieve shared goals. To collaborate effectively, the autonomous system must know the user's goal. As such, most prior works follow a predict-then-act model, first predicting…