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Recent progress in robotics and embodied AI is largely driven by Large Multimodal Models (LMMs). However, a key challenge remains underexplored: how can we advance LMMs to discover tasks that assist humans in open-future scenarios, where…

Levin Tree Search (LTS) (Orseau et al., 2018) is a search algorithm for deterministic environments that uses a user-specified policy to guide the search. It comes with a formal guarantee on the number of search steps (node visits) for…

Generating safety-critical scenarios is essential for validating the robustness of autonomous driving systems, yet existing methods often struggle to produce collisions that are both realistic and diverse while ensuring explicit interaction…

Automated driving has the potential to revolutionize personal, public, and freight mobility. Beside accurately perceiving the environment, automated vehicles must plan a safe, comfortable, and efficient motion trajectory. To promote safety…

We present a novel learning-based collision avoidance algorithm, CrowdSteer, for mobile robots operating in dense and crowded environments. Our approach is end-to-end and uses multiple perception sensors such as a 2-D lidar along with a…

The goal of autonomous vehicles is to navigate public roads safely and comfortably. To enforce safety, traditional planning approaches rely on handcrafted rules to generate trajectories. Machine learning-based systems, on the other hand,…

In shared autonomy, user input and robot autonomy are combined to control a robot to achieve a goal. Often, the robot does not know a priori which goal the user wants to achieve, and must both predict the user's intended goal, and assist in…

Autonomous driving technology is poised to transform transportation systems. However, achieving safe and accurate multi-task decision-making in complex scenarios, such as unsignalized intersections, remains a challenge for autonomous…

This paper addresses the problem of optimal control of robotic sensing systems aimed at autonomous information gathering in scenarios such as environmental monitoring, search and rescue, and surveillance and reconnaissance. The information…

We address the problem of controlling a mobile robot to explore a partially known environment. The robot's objective is the maximization of the amount of information collected about the environment. We formulate the problem as a partially…

In principle, reinforcement learning and policy search methods can enable robots to learn highly complex and general skills that may allow them to function amid the complexity and diversity of the real world. However, training a policy that…

This work presents a deep reinforcement learning framework for interactive navigation in a crowded place. Our proposed approach, Learning to Balance (L2B) framework enables mobile robot agents to steer safely towards their destinations by…

In this paper, we consider online planning in partially observable domains. Solving the corresponding POMDP problem is a very challenging task, particularly in an online setting. Our key contribution is a novel algorithmic approach,…

During the use of advanced driver assistance systems, drivers frequently intervene into the active driving function and adjust the system's behavior to their personal wishes. These active driver-initiated takeovers contain feedback about…

In communication restricted environments, a multi-robot system can be deployed to either: i) maintain constant communication but potentially sacrifice operational efficiency due to proximity constraints or ii) allow disconnections to…

We need intelligent robots for mobile construction, the process of navigating in an environment and modifying its structure according to a geometric design. In this task, a major robot vision and learning challenge is how to exactly achieve…

Safe, socially compliant, and efficient navigation of low-speed autonomous vehicles (AVs) in pedestrian-rich environments necessitates considering pedestrians' future positions and interactions with the vehicle and others. Despite the…

This paper introduces COR-MCTS (Conservation of Resources - Monte Carlo Tree Search), a novel tactical decision-making approach for automated driving focusing on maneuver planning over extended horizons. Traditional decision-making…

Interpretability of AI models allows for user safety checks to build trust in such AIs. In particular, Decision Trees (DTs) provide a global look at the learned model and transparently reveal which features of the input are critical for…

This study examines the problem of hopping robot navigation planning to achieve simultaneous goal-directed and environment exploration tasks. We consider a scenario in which the robot has mandatory goal-directed tasks defined using Linear…