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08/28/2023
Towards Standardized Disturbance Rejection Testing of Legged Robot Locomotion with Linear Impactor: A Preliminary Study, Observations, and Implications
Dynamic locomotion in legged robots is close to industrial collaboration...
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06/26/2023
A Diversity Analysis of Safety Metrics Comparing Vehicle Performance in the Lead-Vehicle Interaction Regime
Vehicle performance metrics analyze data sets consisting of subject vehi...
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09/20/2022
Rethink the Adversarial Scenario-based Safety Testing of Robots: the Comparability and Optimal Aggressiveness
This paper studies the class of scenario-based safety testing algorithms...
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04/16/2022
On Safety Testing, Validation, and Characterization with Scenario-Sampling: A Case Study of Legged Robots
The dynamic response of the legged robot locomotion is non-Lipschitz and...
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02/17/2022
A Formal Safety Characterization of Advanced Driver Assist Systems in the Car-Following Regime with Scenario-Sampling
The capability to follow a lead-vehicle and avoid rear-end collisions is...
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11/15/2021
A Finite-Sampling, Operational Domain Specific, and Provably Unbiased Connected and Automated Vehicle Safety Metric
A connected and automated vehicle safety metric determines the performan...
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10/05/2021
A Formal Characterization of Black-Box System Safety Performance with Scenario Sampling
A typical scenario-based evaluation framework seeks to characterize a bl...
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04/19/2021
Towards Guaranteed Safety Assurance of Automated Driving Systems with Scenario Sampling: An Invariant Set Perspective (Extended Version)
How many scenarios are sufficient to validate the safe Operational Desig...
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03/29/2021
Robust Feedback Motion Policy Design Using Reinforcement Learning on a 3D Digit Bipedal Robot
In this paper, a hierarchical and robust framework for learning bipedal ...
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09/25/2020
A Modeled Approach for Online Adversarial Test of Operational Vehicle Safety
The scenario-based testing of operational vehicle safety presents a set ...
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08/02/2020
Velocity Regulation of 3D Bipedal Walking Robots with Uncertain Dynamics Through Adaptive Neural Network Controller
This paper presents a neural-network based adaptive feedback control str...
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07/30/2020
Momentum Q-learning with Finite-Sample Convergence Guarantee
Existing studies indicate that momentum ideas in conventional optimizati...
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07/15/2020
Analysis of Q-learning with Adaptation and Momentum Restart for Gradient Descent
Existing convergence analyses of Q-learning mostly focus on the vanilla ...
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05/20/2020
Model Predictive Instantaneous Safety Metric for Evaluation of Automated Driving Systems
Vehicles with Automated Driving Systems (ADS) operate in a high-dimensio...
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10/24/2019
Reciprocal Collision Avoidance for General Nonlinear Agents using Reinforcement Learning
Finding feasible and collision-free paths for multiple nonlinear agents ...
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10/03/2019
Hybrid Zero Dynamics Inspired Feedback Control Policy Design for 3D Bipedal Locomotion using Reinforcement Learning
This paper presents a novel model-free reinforcement learning (RL) frame...
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05/07/2019
Accelerated Target Updates for Q-learning
This paper studies accelerations in Q-learning algorithms. We propose an...
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10/03/2018
