Publications (4)
Learning-enabled Parameter Synthesis for Nonlinear Systems from Signal Temporal Logic
Alex Beaudin, Hanna Krasowski, Eric Palanques-Tost +3
Signal Temporal Logic (STL) is increasingly used to describe interpretable objectives and constraints for optimal control and learning methods, especially when no target time serie…
Multi-Step Gaussian Process Propagation for Adaptive Path Planning
Alex Beaudin, Bjørn Andreas Kristiansen, Kristoffer Gryte +4
Efficient and robust path planning hinges on combining all accessible information sources. In particular, the task of path planning for robotic environmental exploration and monito…
Any-Body Guard: Universal Safeguarding for Manipulation Policies via Action Masking
Alex Beaudin, Hanna Krasowski, Kartik Nagpal +3
Ensuring safety of learning-enabled robotic manipulation across diverse embodiments and tasks still requires significant manual engineering. Existing approaches typically rely on h…
Learning Agile Paths from Optimal Control
Alex Beaudin, Hsiu-Chin Lin
Efficient motion planning algorithms are of central importance for deploying robots in the real world. Unfortunately, these algorithms often drastically reduce the dimensionality o…