17 citations · 29 across the 4 of their papers we have counts for
8 papers
Safe Learning for Uncertainty-Aware Planning via Interval MDP Abstraction
Jesse Jiang, Ye Zhao, Samuel Coogan
We study the problem of refining satisfiability bounds for partially-known stochastic systems against planning specifications defined using syntactically co-safe Linear Temporal Lo…
Terrain-perception-free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation
Hongwu Zhu, Dong Wang, Nathan Boyd +6
Dynamic quadrupedal locomotion over rough terrains reveals remarkable progress over the last few decades. Small-scale quadruped robots are adequately flexible and adaptable to trav…
Mediating between Contact Feasibility and Robustness of Trajectory Optimization through Chance Complementarity Constraints
Luke Drnach, John Z. Zhang, Ye Zhao
As robots move from the laboratory into the real world, motion planning will need to account for model uncertainty and risk. For robot motions involving intermittent contact, plann…
SyDeBO: Symbolic-Decision-Embedded Bilevel Optimization for Long-Horizon Manipulation in Dynamic Environments
Zhigen Zhao, Ziyi Zhou, Michael Park +1
This study proposes a Task and Motion Planning (TAMP) method with symbolic decisions embedded in a bilevel optimization. This TAMP method exploits the discrete structure of sequent…
Robust Trajectory Optimization over Uncertain Terrain with Stochastic Complementarity
Luke Drnach, Ye Zhao
Trajectory optimization with contact-rich behaviors has recently gained attention for generating diverse locomotion behaviors without pre-specified ground contact sequences. Howeve…
Towards Safe Locomotion Navigation in Partially Observable Environments with Uneven Terrain
Jonas Warnke, Abdulaziz Shamsah, Yingke Li +1
This study proposes an integrated task and motion planning method for dynamic locomotion in partially observable environments with multi-level safety guarantees. This layered plann…