3 accepted papers
Autonomous mobile robots operating in novel environments depend critically on accurate state estimation, often utilizing visual and inertial measurements. Recent work has shown that an invariant formulation of the extended Kalman filter improves the convergence and robustness of visual-inertial odom…
Leading language model (LM) providers like OpenAI and Anthopic allow customers to fine-tune frontier LMs for specific use cases. To prevent abuse, these providers apply filters to block fine-tuning on overtly harmful data. In this setting, we make three contributions: First, while past work has show…
Reliable autonomous navigation requires adapting the control policy of a mobile robot in response to dynamics changes in different operational conditions. Hand-designed dynamics models may struggle to capture model variations due to a limited set of parameters. Data-driven dynamics learning approach…