Marco Pavone
NVIDIA
収録論文 239本 ・ フィジカルAI/ロボット学習
能動学習/障害発見群制御ロボット自律性
※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。
論文
- ペアシステムを用いた障害発見のためのカバレッジ考慮型能動評価能動学習/障害発見2026/8/13
限られたテスト予算で実世界の障害を効率的に発見するため、プロキシシステムの情報を活用しつつ、実システムの評価結果と組み合わせて障害が起きそうなシナリオを適応的に選択する手法を提案した。
- 近接性と安全性のバランスを取る：歩行者群衆中の人間追従のための制約分解群制御2026/8/10
混雑環境での人間追従タスクを、疎なタスク報酬と独立したコスト制約に分解するマルチ制約強化学習手法を提案し、予測不確実性をコストに組み込むことで近接性と安全性のトレードオフを明示的に調整可能にした。
- ロボット自律性の原理ロボット自律性2026/8/4
ロボット自律性の基礎から実践までを統一的に解説する教科書で、古典的ロボティクスと現代の物理AIを橋渡しし、Jupyterノートブックによる実践演習を提供する。
- Principles of Robot Autonomy2026/8/1
- Navigating the Proximity-Safety Balance: Constraint Decomposition for Human Following in Pedestrian Crowds2026/8/1
- LLM-as-a-Verifier: A General-Purpose Verification Framework2026/7/1
- Do Vision-Language-Action Models Mean What They Say? On the Role of Faithfulness in Embodied Reasoning2026/7/1
- Semantic Constraint Synthesis for Adaptive Trajectory Optimization via Large Language Models2026/6/1
- X4Val: Learning Neural Surrogates for Variance-Reduced Policy Evaluation2026/6/1
- Constrained Whole-Body Tracking for Humanoid Robots2026/6/1
- FARM: Find Anything using Relational Spatial Memory2026/6/1
- A Physics-Grounded Benchmark for Multi-Agent Dynamics in World Models2026/6/1
- Cosmos 3: Omnimodal World Models for Physical AI2026/6/1
- Pose-Agnostic Robotic Functional Grasping via Observation-Action Canonicalization2026/6/1
- DIRECT: When and Where Should You Allocate Test-Time Compute in Embodied Planners?2026/6/1
- Planning-aligned Token Compression for Long-Context Autonomous Driving2026/6/1
- StressDream: Steering Video World Models for Robust Policy Evaluation and Improvement2026/6/1
- frax: Fast Robot Kinematics and Dynamics in JAX2026/4/1
- Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees2026/4/1
- Observing and Controlling Features in Vision-Language-Action Models2026/3/1
- Learning Actuator-Aware Spectral Submanifolds for Precise Control of Continuum Robots2026/3/1
- $\Psi_0$: An Open Foundation Model Towards Universal Humanoid Loco-Manipulation2026/3/1
- Graph Neural Model Predictive Control for High-Dimensional Systems2026/2/1
- Accelerating Structured Chain-of-Thought in Autonomous Vehicles2026/2/1
- Scaling Verification Can Be More Effective than Scaling Policy Learning for Vision-Language-Action Alignment2026/2/1
- Self-Supervised Bootstrapping of Action-Predictive Embodied Reasoning2026/2/1
- Language-Conditioned Safe Trajectory Generation for Spacecraft Rendezvous2025/12/1
- Latent Chain-of-Thought World Modeling for End-to-End Driving2025/12/1
- Foundation models on the bridge: Semantic hazard detection and safety maneuvers for maritime autonomy with vision-language models2025/12/1
- Counterfactual VLA: Self-Reflective Vision-Language-Action Model with Adaptive Reasoning2025/12/1
- RoaD: Rollouts as Demonstrations for Closed-Loop Supervised Fine-Tuning of Autonomous Driving Policies2025/12/1
- Multi-Timescale Model Predictive Control for Slow-Fast Systems2025/11/1
- From Demonstrations to Safe Deployment: Path-Consistent Safety Filtering for Diffusion Policies2025/11/1
- Alpamayo-R1: Bridging Reasoning and Action Prediction for Generalizable Autonomous Driving in the Long Tail2025/11/1
- Agile Tradespace Exploration for Space Rendezvous Mission Design via Transformers2025/10/1
- Preventing Robotic Jailbreaking via Multimodal Domain Adaptation2025/9/1
- The Case for Negative Data: From Crash Reports to Counterfactuals for Reasonable Driving2025/9/1
- Safety Evaluation of Motion Plans Using Trajectory Predictors as Forward Reachable Set Estimators2025/7/1
- Foundation Models in Autonomous Driving: A Survey on Scenario Generation and Scenario Analysis2025/6/1
- CUPID: Curating Data your Robot Loves with Influence Functions2025/6/1
- Pseudo-Simulation for Autonomous Driving2025/6/1
- Sim2Val: Leveraging Correlation Across Test Platforms for Variance-Reduced Metric Estimation2025/6/1
- SkillBlender: Towards Versatile Humanoid Whole-Body Loco-Manipulation via Skill Blending2025/6/1
- Efficient Multi-Camera Tokenization with Triplanes for End-to-End Driving2025/6/1
- Reproducibility in the Control of Autonomous Mobility-on-Demand Systems2025/6/1
- RoboMonkey: Scaling Test-Time Sampling and Verification for Vision-Language-Action Models2025/6/1
- Generative AI for Autonomous Driving: Frontiers and Opportunities2025/5/1
- Trends in Motion Prediction Toward Deployable and Generalizable Autonomy: A Revisit and Perspectives2025/5/1
- Deep Learning Warm Starts for Trajectory Optimization on the International Space Station2025/5/1
- Real-Time Out-of-Distribution Failure Prevention via Multi-Modal Reasoning2025/5/1
- RealDrive: Retrieval-Augmented Driving with Diffusion Models2025/5/1
- Scan, Materialize, Simulate: A Generalizable Framework for Physically Grounded Robot Planning2025/5/1
- Deformable Cargo Transport in Microgravity with Astrobee2025/5/1
- Taming High-Dimensional Dynamics: Learning Optimal Projections onto Spectral Submanifolds2025/4/1
- Data Scaling Laws for End-to-End Autonomous Driving2025/4/1
- Data-Driven Soft Robot Control via Adiabatic Spectral Submanifolds2025/3/1
- Safe, Task-Consistent Manipulation with Operational Space Control Barrier Functions2025/3/1
- Surprise Potential as a Measure of Interactivity in Driving Scenarios2025/2/1
- Online Aggregation of Trajectory Predictors2025/2/1
- LoRA3D: Low-Rank Self-Calibration of 3D Geometric Foundation Models2024/12/1
- Extrapolated Urban View Synthesis Benchmark2024/12/1
- Learning Multiple Initial Solutions to Optimization Problems2024/11/1
- Unpacking Failure Modes of Generative Policies: Runtime Monitoring of Consistency and Progress2024/10/1
- LoRD: Adapting Differentiable Driving Policies to Distribution Shifts2024/10/1
- Generalizable Spacecraft Trajectory Generation via Multimodal Learning with Transformers2024/10/1
- Gen-Drive: Enhancing Diffusion Generative Driving Policies with Reward Modeling and Reinforcement Learning Fine-tuning2024/10/1
- Transformer-based Model Predictive Control: Trajectory Optimization via Sequence Modeling2024/10/1
- Towards Robust Spacecraft Trajectory Optimization via Transformers2024/10/1
- Promptable Closed-loop Traffic Simulation2024/9/1
- RoboMorph: In-Context Meta-Learning for Robot Dynamics Modeling2024/9/1
- Performance assessment of ADAS in a representative subset of critical traffic situations2024/9/1
- System-Level Safety Monitoring and Recovery for Perception Failures in Autonomous Vehicles2024/9/1
- Realistic Extreme Behavior Generation for Improved AV Testing2024/9/1
- Text2Interaction: Establishing Safe and Preferable Human-Robot Interaction2024/8/1
- Space-LLaVA: a Vision-Language Model Adapted to Extraterrestrial Applications2024/8/1
- Tokenize the World into Object-level Knowledge to Address Long-tail Events in Autonomous Driving2024/7/1
- Real-Time Anomaly Detection and Reactive Planning with Large Language Models2024/7/1
- Locomotion as Manipulation with ReachBot2024/7/1
- Diagnostic Runtime Monitoring with Martingales2024/7/1
- Accelerating Online Mapping and Behavior Prediction via Direct BEV Feature Attention2024/7/1
- NAVSIM: Data-Driven Non-Reactive Autonomous Vehicle Simulation and Benchmarking2024/6/1
- ZAPP! Zonotope Agreement of Prediction and Planning for Continuous-Time Collision Avoidance with Discrete-Time Dynamics2024/6/1
- Martian Exploration of Lava Tubes (MELT) with ReachBot: Scientific Investigation and Concept of Operations2024/6/1
- DistillNeRF: Perceiving 3D Scenes from Single-Glance Images by Distilling Neural Fields and Foundation Model Features2024/6/1
- ReachBot Field Tests in a Mojave Desert Lava Tube as a Martian Analog2024/5/1
- RuleFuser: An Evidential Bayes Approach for Rule Injection in Imitation Learned Planners and Predictors for Robustness under Distribution Shifts2024/5/1
- Memorize What Matters: Emergent Scene Decomposition from Multitraverse2024/5/1
- Benchmarking Population-Based Reinforcement Learning across Robotic Tasks with GPU-Accelerated Simulation2024/4/1
- Perfecting Periodic Trajectory Tracking: Model Predictive Control with a Periodic Observer ($\Pi$-MPC)2024/4/1
- Task-Driven Manipulation with Reconfigurable Parallel Robots2024/3/1
- Producing and Leveraging Online Map Uncertainty in Trajectory Prediction2024/3/1
- Mapping High-level Semantic Regions in Indoor Environments without Object Recognition2024/3/1
- Driving Everywhere with Large Language Model Policy Adaptation2024/2/1
- Contingency Planning Using Bi-level Markov Decision Processes for Space Missions2024/2/1
- Modeling Considerations for Developing Deep Space Autonomous Spacecraft and Simulators2024/1/1
- Learning for CasADi: Data-driven Models in Numerical Optimization2023/12/1
- Categorical Traffic Transformer: Interpretable and Diverse Behavior Prediction with Tokenized Latent2023/11/1
- A Language Agent for Autonomous Driving2023/11/1
- Real-time Control of Electric Autonomous Mobility-on-Demand Systems via Graph Reinforcement Learning2023/11/1
- Transformers for Trajectory Optimization with Application to Spacecraft Rendezvous2023/10/1
- DTPP: Differentiable Joint Conditional Prediction and Cost Evaluation for Tree Policy Planning in Autonomous Driving2023/10/1
- Interactive Joint Planning for Autonomous Vehicles2023/10/1
- Reinforcement Learning with Human Feedback for Realistic Traffic Simulation2023/9/1
- Closing the Loop on Runtime Monitors with Fallback-Safe MPC2023/9/1
- Robust Nonlinear Reduced-Order Model Predictive Control2023/9/1
- Refining Obstacle Perception Safety Zones via Maneuver-Based Decomposition2023/8/1
- trajdata: A Unified Interface to Multiple Human Trajectory Datasets2023/7/1
- Risk-Averse Trajectory Optimization via Sample Average Approximation2023/7/1
- Multi-Predictor Fusion: Combining Learning-based and Rule-based Trajectory Predictors2023/7/1
- Language-Guided Traffic Simulation via Scene-Level Diffusion2023/6/1
- Task-Aware Risk Estimation of Perception Failures for Autonomous Vehicles2023/5/1
- Semantic Anomaly Detection with Large Language Models2023/5/1
- Bayesian Reparameterization of Reward-Conditioned Reinforcement Learning with Energy-based Models2023/5/1
- Text2Motion: From Natural Language Instructions to Feasible Plans2023/3/1
- Object Pose Estimation with Statistical Guarantees: Conformal Keypoint Detection and Geometric Uncertainty Propagation2023/3/1
- Convex Hulls of Reachable Sets2023/3/1
- Learning Responsibility Allocations for Safe Human-Robot Interaction with Applications to Autonomous Driving2023/3/1
- Verification and Synthesis of Robust Control Barrier Functions: Multilevel Polynomial Optimization and Semidefinite Relaxation2023/3/1
- Learning Control-Oriented Dynamical Structure from Data2023/2/1
- Tree-structured Policy Planning with Learned Behavior Models2023/1/1
- Receding Horizon Planning with Rule Hierarchies for Autonomous Vehicles2022/12/1
- A System-Level View on Out-of-Distribution Data in Robotics2022/12/1
- DiffStack: A Differentiable and Modular Control Stack for Autonomous Vehicles2022/12/1
- Adaptive Robust Model Predictive Control via Uncertainty Cancellation2022/12/1
- Online Distribution Shift Detection via Recency Prediction2022/11/1
- Designing ReachBot: System Design Process with a Case Study of a Martian Lava Tube Mission2022/10/1
- Guided Conditional Diffusion for Controllable Traffic Simulation2022/10/1
- Planning with Occluded Traffic Agents using Bi-Level Variational Occlusion Models2022/10/1
- Learning Autonomous Vehicle Safety Concepts from Demonstrations2022/10/1
- Using Spectral Submanifolds for Nonlinear Periodic Control2022/9/1
- Motion Planning for a Climbing Robot with Stochastic Grasps2022/9/1
- Data-Driven Spectral Submanifold Reduction for Nonlinear Optimal Control of High-Dimensional Robots2022/9/1
- Expanding the Deployment Envelope of Behavior Prediction via Adaptive Meta-Learning2022/9/1
- BITS: Bi-level Imitation for Traffic Simulation2022/8/1
- Task-Relevant Failure Detection for Trajectory Predictors in Autonomous Vehicles2022/7/1
- Learning Deep SDF Maps Online for Robot Navigation and Exploration2022/7/1
- Interaction-Dynamics-Aware Perception Zones for Obstacle Detection Safety Evaluation2022/6/1
- ScePT: Scene-consistent, Policy-based Trajectory Predictions for Planning2022/6/1
- Robust-RRT: Probabilistically-Complete Motion Planning for Uncertain Nonlinear Systems2022/5/1
- Safe Reinforcement Learning Using Black-Box Reachability Analysis2022/4/1
- Control-oriented meta-learning2022/4/1
- Motron: Multimodal Probabilistic Human Motion Forecasting2022/3/1
- Real-time Neural-MPC: Deep Learning Model Predictive Control for Quadrotors and Agile Robotic Platforms2022/3/1
- Data-Driven Chance Constrained Control using Kernel Distribution Embeddings2022/2/1
- Semi-Supervised Trajectory-Feedback Controller Synthesis for Signal Temporal Logic Specifications2022/2/1
- A Simple and Efficient Sampling-based Algorithm for General Reachability Analysis2021/12/1
- Personalized Federated Learning of Driver Prediction Models for Autonomous Driving2021/12/1
- On the Problem of Reformulating Systems with Uncertain Dynamics as a Stochastic Differential Equation2021/11/1
- Coordinated Multi-Agent Pathfinding for Drones and Trucks over Road Networks2021/10/1
- Injecting Planning-Awareness into Prediction and Detection Evaluation2021/10/1
- Propagating State Uncertainty Through Trajectory Forecasting2021/10/1
- ReachBot: A Small Robot for Large Mobile Manipulation Tasks2021/10/1
- MTP: Multi-Hypothesis Tracking and Prediction for Reduced Error Propagation2021/10/1
- Lyapunov-stable neural-network control2021/9/1
- Sample-Efficient Safety Assurances using Conformal Prediction2021/9/1
- Vision-based Autonomous Disinfection of High Touch Surfaces in Indoor Environments2021/8/1
- Rethinking Trajectory Forecasting Evaluation2021/7/1
- Towards Data-Driven Synthesis of Autonomous Vehicle Safety Concepts2021/7/1
- Joint Optimization of Autonomous Electric Vehicle Fleet Operations and Charging Station Siting2021/7/1
- Convex Optimization for Trajectory Generation2021/6/1
- Graph Neural Network Reinforcement Learning for Autonomous Mobility-on-Demand Systems2021/4/1
- Heterogeneous-Agent Trajectory Forecasting Incorporating Class Uncertainty2021/4/1
- Adaptive Robust Model Predictive Control with Matched and Unmatched Uncertainty2021/4/1
- Particle MPC for Uncertain and Learning-Based Control2021/4/1
- Multi-Agent Algorithms for Collective Behavior: A structural and application-focused atlas2021/3/1
- Adaptive-Control-Oriented Meta-Learning for Nonlinear Systems2021/3/1
- Composable Geometric Motion Policies using Multi-Task Pullback Bundle Dynamical Systems2021/1/1
- Leveraging Neural Network Gradients within Trajectory Optimization for Proactive Human-Robot Interactions2020/12/1
- Sampling Training Data for Continual Learning Between Robots and the Cloud2020/12/1
- On Infusing Reachability-Based Safety Assurance within Planning Frameworks for Human-Robot Vehicle Interactions2020/12/1
- Task-relevant Representation Learning for Networked Robotic Perception2020/11/1
- Fast Near-Optimal Heterogeneous Task Allocation via Flow Decomposition2020/11/1
- Soft Robot Optimal Control Via Reduced Order Finite Element Models2020/11/1
- Near-Optimal Multi-Robot Motion Planning with Finite Sampling2020/11/1
- Evidential Sparsification of Multimodal Latent Spaces in Conditional Variational Autoencoders2020/10/1
- Analysis of Theoretical and Numerical Properties of Sequential Convex Programming for Continuous-Time Optimal Control2020/9/1
- MATS: An Interpretable Trajectory Forecasting Representation for Planning and Control2020/9/1
- Risk-Sensitive Sequential Action Control with Multi-Modal Human Trajectory Forecasting for Safe Crowd-Robot Interaction2020/9/1
- Safe Active Dynamics Learning and Control: A Sequential Exploration-Exploitation Framework2020/8/1
- Sampling-based Reachability Analysis: A Random Set Theory Approach with Adversarial Sampling2020/8/1
- Infusing Reachability-Based Safety into Planning and Control for Multi-agent Interactions2020/8/1
- Multimodal Deep Generative Models for Trajectory Prediction: A Conditional Variational Autoencoder Approach2020/8/1
- Soft Tensegrity Systems for Planetary Landing and Exploration2020/3/1
- The Shapeshifter: a Morphing, Multi-Agent,Multi-Modal Robotic Platform for the Exploration of Titan (preprint version)2020/3/1
- On Local Computation for Optimization in Multi-Agent Systems2020/2/1
- Shapeshifter: A Multi-Agent, Multi-Modal Robotic Platform for Exploration of Titan2020/2/1
- Trajectron++: Dynamically-Feasible Trajectory Forecasting With Heterogeneous Data2020/1/1
- Map-Predictive Motion Planning in Unknown Environments2019/10/1
- Efficient Large-Scale Multi-Drone Delivery Using Transit Networks2019/9/1
- Revisiting the Asymptotic Optimality of RRT$^*$2019/9/1
- Sample Complexity of Probabilistic Roadmaps via $\epsilon$-nets2019/9/1
- Learning Stabilizable Nonlinear Dynamics with Contraction-Based Regularization2019/7/1
- Bilevel Optimization for Planning through Contact: A Semidirect Method2019/6/1
- Trajectory Optimization on Manifolds: A Theoretically-Guaranteed Embedded Sequential Convex Programming Approach2019/5/1
- On the Interaction between Autonomous Mobility on Demand Systems and Power Distribution Networks -- An Optimal Power Flow Approach2019/5/1
- Scalable and Congestion-aware Routing for Autonomous Mobility-on-Demand via Frank-Wolfe Optimization2019/3/1
- GuSTO: Guaranteed Sequential Trajectory Optimization via Sequential Convex Programming2019/3/1
- Network Offloading Policies for Cloud Robotics: a Learning-based Approach2019/2/1
- A Differentiable Augmented Lagrangian Method for Bilevel Nonlinear Optimization2019/2/1
- On Infusing Reachability-Based Safety Assurance within Probabilistic Planning Frameworks for Human-Robot Vehicle Interactions2018/12/1
- The Trajectron: Probabilistic Multi-Agent Trajectory Modeling With Dynamic Spatiotemporal Graphs2018/10/1
- Learning Stabilizable Dynamical Systems via Control Contraction Metrics2018/8/1
- Robust Tracking with Model Mismatch for Fast and Safe Planning: an SOS Optimization Approach2018/8/1
- Robot Motion Planning in Learned Latent Spaces2018/7/1
- Meta-Learning Priors for Efficient Online Bayesian Regression2018/7/1
- Reach-Avoid Problems via Sum-of-Squares Optimization and Dynamic Programming2018/7/1
- BaRC: Backward Reachability Curriculum for Robotic Reinforcement Learning2018/6/1
- On the Interaction between Autonomous Mobility-on-Demand and Public Transportation Systems2018/4/1
- Safe Motion Planning in Unknown Environments: Optimality Benchmarks and Tractable Policies2018/4/1
- Generative Modeling of Multimodal Multi-Human Behavior2018/3/1
- Review of Multi-Agent Algorithms for Collective Behavior: a Structural Taxonomy2018/3/1
- Risk-sensitive Inverse Reinforcement Learning via Semi- and Non-Parametric Methods2017/11/1
- Multimodal Probabilistic Model-Based Planning for Human-Robot Interaction2017/10/1
- How Should a Robot Assess Risk? Towards an Axiomatic Theory of Risk in Robotics2017/10/1
- Learning Sampling Distributions for Robot Motion Planning2017/9/1
- On the interaction between Autonomous Mobility-on-Demand systems and the power network: models and coordination algorithms2017/9/1
- Data-Driven Model Predictive Control of Autonomous Mobility-on-Demand Systems2017/9/1
- ADAPT: Zero-Shot Adaptive Policy Transfer for Stochastic Dynamical Systems2017/7/1
- Perception-Aware Motion Planning via Multiobjective Search on GPUs2017/5/1
- Group Marching Tree: Sampling-Based Approximately Optimal Motion Planning on GPUs2017/5/1
- The Team Surviving Orienteers Problem: Routing Robots in Uncertain Environments with Survival Constraints2016/12/1
- Evaluating Trajectory Collision Probability through Adaptive Importance Sampling for Safe Motion Planning2016/9/1
- Real-Time Stochastic Kinodynamic Motion Planning via Multiobjective Search on GPUs2016/7/1
- Mixed Strategy for Constrained Stochastic Optimal Control2016/7/1
- Optimized and Trusted Collision Avoidance for Unmanned Aerial Vehicles using Approximate Dynamic Programming (Technical Report)2016/2/1
- Trading Safety Versus Performance: Rapid Deployment of Robotic Swarms with Robust Performance Constraints2015/11/1
- Decentralized Algorithms for 3D Symmetric Formations in Robotic Networks: a Contraction Theory Approach2015/11/1
- An Asymptotically-Optimal Sampling-Based Algorithm for Bi-directional Motion Planning2015/7/1
- A Convex Optimization Approach to Smooth Trajectories for Motion Planning with Car-Like Robots2015/6/1
- Deterministic Sampling-Based Motion Planning: Optimality, Complexity, and Performance2015/5/1
- Monte Carlo Motion Planning for Robot Trajectory Optimization Under Uncertainty2015/4/1
- On the fundamental limitations of performance for distributed decision-making in robotic networks2014/9/1
- Optimal Sampling-Based Motion Planning under Differential Constraints: the Drift Case with Linear Affine Dynamics2014/5/1
- Control of Robotic Mobility-On-Demand Systems: a Queueing-Theoretical Perspective2014/4/1
- Optimal Sampling-Based Motion Planning under Differential Constraints: the Driftless Case2014/3/1
- Fast Marching Tree: a Fast Marching Sampling-Based Method for Optimal Motion Planning in Many Dimensions2013/6/1
- Dynamic Multi-Vehicle Routing with Multiple Classes of Demands2009/3/1
- Distributed and Adaptive Algorithms for Vehicle Routing in a Stochastic and Dynamic Environment2009/3/1
- Equitable Partitioning Policies for Mobile Robotic Networks2009/3/1