8 accepted papers
We propose Confidence-Guided Token Merging (Co-Me), an acceleration mechanism for visual geometric transformers without retraining or finetuning the base model. Co-Me distilled a light-weight confidence predictor to rank tokens by uncertainty and selectively merge low-confidence ones, effectively re
Maintaining visual separation is crucial to achieving safe and seamless high-density operation of airborne vehicles in shared airspace, where pilots currently shoulder this responsibility. To automate this, we present ViSafe, a high-speed airborne vision-only collision avoidance system. Designed un…
The fast-growing demand for fully autonomous robots in shared spaces calls for developing trustworthy agents that can safely and seamlessly navigate crowded environments. Recent models for motion prediction show promise in characterizing social interactions in such environments. However, using them
Detect-and-Avoid (DAA) capabilities are critical for safe operations of unmanned aircraft systems (UAS). This paper introduces, AirTrack, a real-time vision-only detect and tracking framework that respects the size, weight, and power (SWaP) constraints of sUAS systems. Given the low Signal-to-Noise…
Seamlessly integrating rules in Learning-from-Demonstrations (LfD) policies is a critical requirement to enable the real-world deployment of AI agents. Recently, Signal Temporal Logic (STL) has been shown to be an effective language for encoding rules as spatio-temporal constraints. This work uses M…
Pilots operating aircraft in non-towered terminal airspace rely on their situational awareness and prior knowledge to predict the future trajectories of other agents. These predictions are conditioned on the past trajectories of other agents, agent-agent social interactions and environmental context…
Energy management is a critical aspect of risk assessment for Uncrewed Aerial Vehicle (UAV) flights, as a depleted battery during a flight brings almost guaranteed vehicle damage and a high risk of human injuries or property damage. Predicting the amount of energy a flight will consume is challengin…
A high-quality estimate of wind fields can potentially improve the safety and performance of Unmanned Aerial Vehicles (UAVs) operating in dense urban areas. Computational Fluid Dynamics (CFD) simulations can help provide a wind field estimate, but their accuracy depends on the knowledge of the distr…