28 citations · 93 across the 17 of their papers we have counts for
6 papers · 1 filter
Learning Complex Motion Plans using Neural ODEs with Safety and Stability Guarantees
Farhad Nawaz, Tianyu Li, Nikolai Matni +1
We propose a Dynamical System (DS) approach to learn complex, possibly periodic motion plans from kinesthetic demonstrations using Neural Ordinary Differential Equations (NODE). To…
A Data-Driven Approach to Synthesizing Dynamics-Aware Trajectories for Underactuated Robotic Systems
Anusha Srikanthan, Fengjun Yang, Igor Spasojevic +3
We consider joint trajectory generation and tracking control for under-actuated robotic systems. A common solution is to use a layered control architecture, where the top layer use…
Visual Backtracking Teleoperation: A Data Collection Protocol for Offline Image-Based Reinforcement Learning
David Brandfonbrener, Stephen Tu, Avi Singh +4
We consider how to most efficiently leverage teleoperator time to collect data for learning robust image-based value functions and policies for sparse reward robotic tasks. To acco…
Uncertainty-driven Planner for Exploration and Navigation
Georgios Georgakis, Bernadette Bucher, Anton Arapin +3
We consider the problems of exploration and point-goal navigation in previously unseen environments, where the spatial complexity of indoor scenes and partial observability constit…
Robust, Perception Based Control with Quadrotors
Laura Jarin-Lipschitz, Rebecca Li, Ty Nguyen +2
Traditionally, controllers and state estimators in robotic systems are designed independently. Controllers are often designed assuming perfect state estimation. However, state esti…
An Adversarial Objective for Scalable Exploration
Bernadette Bucher, Karl Schmeckpeper, Nikolai Matni +1
Model-based curiosity combines active learning approaches to optimal sampling with the information gain based incentives for exploration presented in the curiosity literature. Exis…