{"686491":{"#nid":"686491","#data":{"type":"event","title":"PhD Proposal by Jason Gibson","body":[{"value":"\u003Cp\u003ETitle: Dynamics Model Learning For Risk-Aware Planning and Control With Perceptual Inputs\u003C\/p\u003E\u003Cp\u003EData: December 1, 2025\u003Cbr\u003ETime: 12:00 pm - 2:00 pm\u003Cbr\u003ELocation: CODA 1215 Midtown\u003Cbr\u003EVirtual Link: https:\/\/gatech.zoom.us\/j\/94372341191\u003C\/p\u003E\u003Cp\u003EJason Gibson\u003Cbr\u003ERobotics PhD Student\u003Cbr\u003ESchool of Interactive Computing\u003Cbr\u003EGeorgia Institute of Technology\u003C\/p\u003E\u003Cp\u003ECommittee:\u003Cbr\u003EDr. Evangelos Theodorou (Advisor)\u0026nbsp;\u003Cbr\u003ESchool of Aerospace Engineering\u003Cbr\u003EGeorgia Institute of Technology\u003C\/p\u003E\u003Cp\u003EDr. Frank Dellaert\u0026nbsp;\u003Cbr\u003ESchool of Interactive Computing\u003Cbr\u003EGeorgia Institute of Technology\u003C\/p\u003E\u003Cp\u003EDr. Samuel Coogan\u003Cbr\u003ESchool of Electrical and Computing Engineering\u003Cbr\u003EGeorgia Institute of Technology\u003C\/p\u003E\u003Cp\u003EDr. Lu Gan\u003Cbr\u003ESchool of Aerospace Engineering\u0026nbsp;\u003Cbr\u003EGeorgia Institute of Technology\u003C\/p\u003E\u003Cp\u003EDr. Shreyas Kousik\u003Cbr\u003ESchool of Mechanical Engineering\u003Cbr\u003EGeorgia Institute of Technology\u003C\/p\u003E\u003Cp\u003EAbstract:\u003Cbr\u003EThe formulation of autonomous navigation problems are becoming increasingly important as we begin to include more autonomous systems in everyday life. These systems need to be able to adapt quickly to novel inputs and handle the continuous and varied nature of challenges in the real world. We want autonomous systems that are able to appropriately represent and plan with uncertainty in action and perception. The system should naturally modulate its own behavior as a function of uncertainty and the environment by seamlessly adapting between aggressive and conservative actions as a human would. Furthermore, the system should be easily configurable along the continuum of risk with minimal tuning parameters. Throughout the document, we will show a framework for uncertainty-aware trajectory optimization achieve these goals.\u003C\/p\u003E\u003Cp\u003EOur work focuses on appropriate representations of dynamical uncertainty for real-time optimization. We will review prior work on combining well-understood parametric equations with learned representations to get the best of both approaches. These representations have been incorporated into a real-time trajectory optimization approach using MPPI that will demonstrate human-like risk-sensitive behavior that will scale across multiple environments. This behavior will be demonstrated in miles-long experiments with full-sized vehicles in the real world. We will propose future extensions that will improve the environmental context of uncertainty and increase the traversal speed. Semantic information will be extracted from the environment in a transferable and scalable way using a general feature vector from a visual foundation model. Finally, we will propose new approaches to reduce how conservative the approach is through better preemptive approximations of closed-loop uncertainty.\u003Cbr\u003E\u0026nbsp;\u003C\/p\u003E","summary":"","format":"limited_html"}],"field_subtitle":"","field_summary":[{"value":"\u003Cp\u003EDynamics Model Learning For Risk-Aware Planning and Control With Perceptual Inputs\u003C\/p\u003E","format":"limited_html"}],"field_summary_sentence":[{"value":"Dynamics Model Learning For Risk-Aware Planning and Control With Perceptual Inputs"}],"uid":"27707","created_gmt":"2025-11-17 17:46:11","changed_gmt":"2025-11-17 17:46:54","author":"Tatianna Richardson","boilerplate_text":"","field_publication":"","field_article_url":"","field_event_time":{"event_time_start":"2025-12-01T12:00:00-05:00","event_time_end":"2025-12-01T14:00:00-05:00","event_time_end_last":"2025-12-01T14:00:00-05:00","gmt_time_start":"2025-12-01 17:00:00","gmt_time_end":"2025-12-01 19:00:00","gmt_time_end_last":"2025-12-01 19:00:00","rrule":null,"timezone":"America\/New_York"},"location":"CODA 1215 Midtown","extras":[],"groups":[{"id":"221981","name":"Graduate Studies"}],"categories":[],"keywords":[{"id":"102851","name":"Phd proposal"}],"core_research_areas":[],"news_room_topics":[],"event_categories":[{"id":"1788","name":"Other\/Miscellaneous"}],"invited_audience":[{"id":"78771","name":"Public"}],"affiliations":[],"classification":[],"areas_of_expertise":[],"news_and_recent_appearances":[],"phone":[],"contact":[],"email":[],"slides":[],"orientation":[],"userdata":""}}}