26 citations · 91 across the 20 of their papers we have counts for
5 papers · 1 filter
A System-Level View on Out-of-Distribution Data in Robotics
Rohan Sinha, Apoorva Sharma, Somrita Banerjee +6
When testing conditions differ from those represented in training data, so-called out-of-distribution (OOD) inputs can mar the reliability of learned components in the modern robot…
Robotic Table Wiping via Reinforcement Learning and Whole-body Trajectory Optimization
Thomas Lew, Sumeet Singh, Mario Prats +11
We propose a framework to enable multipurpose assistive mobile robots to autonomously wipe tables to clean spills and crumbs. This problem is challenging, as it requires planning w…
Sample Average Approximation for Stochastic Programming with Equality Constraints
Thomas Lew, Riccardo Bonalli, Marco Pavone
We revisit the sample average approximation (SAA) approach for non-convex stochastic programming. We show that applying the SAA approach to problems with expected value equality co…
Robust-RRT: Probabilistically-Complete Motion Planning for Uncertain Nonlinear Systems
Albert Wu, Thomas Lew, Kiril Solovey +2
Robust motion planning entails computing a global motion plan that is safe under all possible uncertainty realizations, be it in the system dynamics, the robot's initial position,…
Data-Driven Chance Constrained Control using Kernel Distribution Embeddings
Adam J. Thorpe, Thomas Lew, Meeko M. K. Oishi +1
We present a data-driven algorithm for efficiently computing stochastic control policies for general joint chance constrained optimal control problems. Our approach leverages the t…