Tzu-Hsiang Lin

2 papers indexed

arxivcs.ROeess.SY2026-07-10

SEAMLiS: Visibility-Aware Safety for Perception-Limited Multi-Robot Exploration

Taekyung Kim, Rahul H Kumar, Aswin D. Menon, Tzu-Hsiang Lin, Dimitra Panagou

Autonomous exploration in unknown environments is typically driven by informative frontiers, viewpoints, or trajectories, while local safety controllers avoid obstacles represented in the current map. Under finite sensing range and limited field of view, this separation can be un…

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arxivcs.LGcs.RO2026-06-27

ReGuide: From Test-Time Guidance to Self-Improving Diffusion Policies

Tzu-Hsiang Lin, Srinivas Shakkottai, Dileep Kalathil, P. R. Kumar

Behavior-cloned diffusion policies are expressive but remain vulnerable to covariate shift: small deviations from demonstrated states can compound into task failure. Existing methods address this either by expanding the training distribution through expert corrections or syntheti…

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