4 accepted papers
Hard constraints in reinforcement learning (RL) often degrade policy performance. Lagrangian methods offer a way to blend objectives with constraints, but require intricate reward engineering and parameter tuning. In this work, we extend recent advances that connect Hamilton-Jacobi (HJ) equations wi…
Safe operation is essential for autonomous systems in safety-critical environments such as urban air mobility. Value function-based safety filters provide formal guarantees on safety, wrapping learned or planning-based controllers with a layer of protection. Recent approaches leverage offline lear…
Surgical automation has the capability to improve the consistency of patient outcomes and broaden access to advanced surgical care in underprivileged communities. Shared autonomy, where the robot automates routine subtasks while the surgeon retains partial teleoperative control, offers great potenti
Surgical automation can improve the accessibility and consistency of life-saving procedures. Most surgeries require separating layers of tissue to access the surgical site, and suturing to re-attach incisions. These tasks involve deformable manipula- tion to safely identify and alter tissue attachme…