Haolin Ruan — accepted AI-conference papers

2024

Distributionally Robust Chance Constrained Trajectory Optimization for Mobile Robots within Uncertain Safe Corridor

Shaohang Xu, Haolin Ruan, Wentao Zhang, Yian Wang, Lijun Zhu, Chin Pang Ho

ICRA 2024poster

Safe corridor-based Trajectory Optimization (TO) presents an appealing approach for collision-free path planning of autonomous robots, because its convex formulation can guarantee global optimality. The safe corridor is constructed based on the obstacle map, however, the non-ideal perception induces…

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2023

Robust Satisficing MDPs

Haolin Ruan, Siyu Zhou, Zhi Chen, Chin Pang Ho

ICML 2023poster

Despite being a fundamental building block for reinforcement learning, Markov decision processes (MDPs) often suffer from ambiguity in model parameters. Robust MDPs are proposed to overcome this challenge by optimizing the worst-case performance under ambiguity. While robust MDPs can provide reliabl…

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