POMDP policies can be checked for robustness to observation model changes by solving a bi-level optimization via root-finding with the Robust Interval Search algorithm, which runs in polynomial time for non-sticky history-independent deviations when using finite-state controllers.
Robotic Assembly and Reconfiguration of Modular Power Management and Distribution Systems
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SAGES translates natural-language commands into constraint-respecting spacecraft trajectories, achieving over 90% semantic-behavioral consistency in proximity operations and robotic tests.
Planetary Exploration 3.0 proposes single adaptive missions that perform both initial exploration and follow-on science on unvisited worlds using software-defined space systems.
An open-sourced Unified Autonomy Stack fuses LiDAR, radar, vision and inertial data with sampling-based planning and control barrier functions to deliver resilient autonomy on aerial and ground robots in challenging real-world settings.
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Robustness Analysis of POMDP Policies to Observation Perturbations
POMDP policies can be checked for robustness to observation model changes by solving a bi-level optimization via root-finding with the Robust Interval Search algorithm, which runs in polynomial time for non-sticky history-independent deviations when using finite-state controllers.
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Language-Conditioned Safe Trajectory Generation for Spacecraft Rendezvous
SAGES translates natural-language commands into constraint-respecting spacecraft trajectories, achieving over 90% semantic-behavioral consistency in proximity operations and robotic tests.
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Planetary Exploration 3.0: A Roadmap for Software-Defined, Radically Adaptive Space Systems
Planetary Exploration 3.0 proposes single adaptive missions that perform both initial exploration and follow-on science on unvisited worlds using software-defined space systems.
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The Unified Autonomy Stack: Toward a Blueprint for Generalizable Robot Autonomy
An open-sourced Unified Autonomy Stack fuses LiDAR, radar, vision and inertial data with sampling-based planning and control barrier functions to deliver resilient autonomy on aerial and ground robots in challenging real-world settings.