Xiaoyi (Jeremy) Cai
emaild.iyem@ctxu unscramble

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I am a Ph.D. student at MIT advised by Prof. Jonathan How. Previously, I received B.S./M.S. in Electrical and Computer Engineering from Georgia Tech, advised by Prof. Magnus Egerstedt (now at UC Irvine).

My research lies in the intersection of Machine Learning and Robotics, with the goal of enabling reliable autonomous navigation in the real world. To this end, my work aims at modeling uncertainty and planning navigation behaviors to mitigate the risk of failures and reduce uncertainty. My work has been applied to off-road navigation and coordination of heterogeneous robot teams.

I spent a summer at the AI Institute working with Prof. Bernadette Bucher, Stephen Phillips, and Jiuguang Wang, where we enabled a Spot robot to navigate in the wild with a learned traversability model based on elevation and semantics.


  Publications
  Preprint
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PIETRA: Physics-Informed Evidential Learning for Traversing Out-of-Distribution Terrain
Xiaoyi Cai, James Queeney, Tong Xu, Aniket Datar, Chenhui Pan, Max Miller, Ashton Flather, Philip R. Osteen, Nicholas Roy, Xuesu Xiao, Jonathan P. How
arXiv

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CGD: Constraint-Guided Diffusion Policies for UAV Trajectory Planning
Kota Kondo, Andrea Tagliabue, Xiaoyi Cai, Claudius Tewari, Olivia Garcia, Marcos Espitia-Alvarez, Jonathan P. How
arXiv

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  Journal
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EVORA: Deep Evidential Traversability Learning for Risk-Aware Off-Road Autonomy
Xiaoyi Cai, Siddharth Ancha, Lakshay Sharma, Philip R. Osteen, Bernadette Bucher, Stephen Phillips, Jiuguang Wang, Michael Everett, Nicholas Roy, Jonathan P. How
T-RO 2024

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Energy-Aware, Collision-Free Information Gathering for Heterogeneous Robot Teams
Xiaoyi Cai, Brent Schlotfeldt, Kasra Khosoussi, Nikolay Atanasov, George J. Pappas, Jonathan P. How
T-RO 2023

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The Robotarium: Automation of a Remotely Accessible, Multi-Robot Testbed
Sean Wilson, Paul Glotfelter, Siddharth Mayya, Gennaro Notomista, Yousef Emam, Xiaoyi Cai, Magnus Egerstedt
RA-L 2021

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A Sequential Composition Framework for Coordinating Multirobot Behaviors
Pietro Pierpaoli, Anqi Li, Mohit Srinivasan, Xiaoyi Cai, Samuel Coogan, Magnus Egerstedt
T-RO 2020

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A Distributed Pipeline for Scalable, Deconflicted Formation Flying
Parker C. Lusk, Xiaoyi Cai, Samir Wadhwania, Aleix Paris, Kaveh Fathian, Jonathan P. How
RA-L 2020

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Coordination of Robot Teams Over Long Distances: From Georgia Tech to Tokyo Tech and Back---An 11,000-km Multirobot Experiment
Riku Funada, Xiaoyi Cai, Gennaro Notomista, Made W.S. Atman, Junya Yamauchi, Masayuki Fujita, Magnus Egerstedt
CSM 2020

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  Conference

Probabilistic Traversability Model for Risk-Aware Motion Planning in Off-Road Environments
Xiaoyi Cai, Michael Everett, Lakshay Sharma, Philip R. Osteen, Jonathan P. How
IROS 2023

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RAMP: A Risk-Aware Mapping and Planning Pipeline for Fast Off-Road Ground Robot Navigation
Lakshay Sharma, Michael Everett, Donggun Lee, Xiaoyi Cai, Philip Osteen, Jonathan P. How
ICRA 2023

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Risk-Aware Off-Road Navigation via a Learned Speed Distribution Map
Xiaoyi Cai, Michael Everett, Jonathan Fink, Jonathan P. How
IROS 2022

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Non-Monotone Energy-Aware Information Gathering for Heterogeneous Robot Teams
Xiaoyi Cai*, Brent Schlotfeldt*, Kasra Khosoussi, Nikolay Atanasov, George J. Pappas, Jonathan P. How
ICRA 2021 (*equal contributions)

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LION: Lidar-Inertial Observability-Aware Navigator for Vision-Denied Environments
Andrea Tagliabue*, Jesus Tordesillas*, Xiaoyi Cai*, Angel Santamaria-Navarro, Jonathan P. How, Luca Carlone, Ali-akbar Agha-mohammadi
ISER 2020 (*equal contributions)

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Passivity-Based Decentralized Control of Multi-Robot Systems With Delays Using Control Barrier Functions
Gennaro Notomista, Xiaoyi Cai, Junya Yamauchi, Magnus Egerstedt
MRS 2019

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