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Modern robotics is gravitating toward increasingly collaborative human robot interaction. Tools such as acceleration policies can naturally support the realization of reactive, adaptive, and compliant robots. These tools require us to model…
Accurate and robust state estimation is critical for autonomous navigation of robot teams. This task is especially challenging for large groups of size, weight, and power (SWAP) constrained aerial robots operating in perceptually-degraded…
Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level…
As Artificial Intelligence (AI) becomes increasingly integrated into high-stakes domains like healthcare, effective collaboration between healthcare experts and AI systems is critical. Data-centric steering, which involves fine-tuning…
AI alignment is growing in importance, yet many current approaches learn safety behavior by directly modifying policy parameters, entangling normative constraints with the underlying policy. This often yields opaque, difficult-to-edit…
Creating systems that are aligned with our goals is seen as a leading approach to create safe and beneficial AI in both leading AI companies and the academic field of AI safety. We defend the view that misaligned AGI - future, generally…
Natural and human-made disasters have dramatically increased during the last decades. Given the strong relationship between first responders localization time and the final number of deaths, the modernization of search-and-rescue operations…
Precise temporal and spatial alignment is critical in collaborative Augmented Reality (AR) where users rely on shared visual information to coordinate actions. System latency and object misalignment can disrupt communication, reduce task…
As aircraft systems become increasingly autonomous, the human-machine role allocation changes and opportunities for new failure modes arise. This necessitates an approach to identify the safety requirements for the increasingly autonomous…
Autonomous surface vessels (ASVs) play an increasingly important role in the safety and sustainability of open sea operations. Since most maritime accidents are related to human failure, intelligent algorithms for autonomous collision…
Robotic systems that can traverse planetary or lunar surfaces to collect environmental data and perform physical manipulation tasks, such as assembling equipment or conducting mining operations, are envisioned to form the backbone of future…
Autonomous systems have achieved superhuman performance in isolation or simulation, yet they remain brittle in shared, dynamic real-world spaces. This failure stems from the dominant single-agent paradigm for physical applications, where…
AI is anticipated to enhance human decision-making in high-stakes domains like aviation, but adoption is often hindered by challenges such as inappropriate reliance and poor alignment with users' decision-making. Recent research suggests…
Airborne Base Stations (ABSs) allow for flexible geographical allocation of network resources with dynamically changing load as well as rapid deployment of alternate connectivity solutions during natural disasters. Since the radio…
This paper presents a novel reinforcement learning framework for trajectory tracking of unmanned aerial vehicles in cluttered environments using a dual-agent architecture. Traditional optimization methods for trajectory tracking face…
As humanity prepares for new missions to the Moon and Mars, astronauts will need to operate with greater autonomy, given the communication delays that make real-time support from Earth difficult. For instance, messages between Mars and…
Reliable and efficient trajectory optimization methods are a fundamental need for autonomous dynamical systems, effectively enabling applications including rocket landing, hypersonic reentry, spacecraft rendezvous, and docking. Within such…
In complex industrial and chemical process control rooms, effective decision-making is crucial for safety and efficiency. The experiments in this paper evaluate the impact and applications of an AI-based decision support system integrated…
Intelligent assistants (IAs) such as Siri and Cortana conversationally interact with users and execute a wide range of actions (e.g., searching the Web, setting alarms, and chatting). IAs can support these actions through the combination of…
We propose an AI-based pilot trainer to help students learn how to fly aircraft. First, an AI agent uses behavioral cloning to learn flying maneuvers from qualified flight instructors. Later, the system uses the agent's decisions to detect…