323 citations · 407 across the 32 of their papers we have counts for
3 papers · 1 filter
CEM-GD: Cross-Entropy Method with Gradient Descent Planner for Model-Based Reinforcement Learning
Kevin Huang, Sahin Lale, Ugo Rosolia +2
Current state-of-the-art model-based reinforcement learning algorithms use trajectory sampling methods, such as the Cross-Entropy Method (CEM), for planning in continuous control s…
Safety Augmented Value Estimation from Demonstrations (SAVED): Safe Deep Model-Based RL for Sparse Cost Robotic Tasks
Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia +6
Reinforcement learning (RL) for robotics is challenging due to the difficulty in hand-engineering a dense cost function, which can lead to unintended behavior, and dynamical uncert…
Autonomous Racing using Learning Model Predictive Control
Ugo Rosolia, Ashwin Carvalho, Francesco Borrelli
A novel learning Model Predictive Control technique is applied to the autonomous racing problem. The goal of the controller is to minimize the time to complete a lap. The proposed…