11 citations · 26 across the 7 of their papers we have counts for
3 papers · 1 filter
RAT iLQR: A Risk Auto-Tuning Controller to Optimally Account for Stochastic Model Mismatch
Haruki Nishimura, Negar Mehr, Adrien Gaidon +1
Successful robotic operation in stochastic environments relies on accurate characterization of the underlying probability distributions, yet this is often imperfect due to limited…
Risk-Sensitive Sequential Action Control with Multi-Modal Human Trajectory Forecasting for Safe Crowd-Robot Interaction
Haruki Nishimura, Boris Ivanovic, Adrien Gaidon +2
This paper presents a novel online framework for safe crowd-robot interaction based on risk-sensitive stochastic optimal control, wherein the risk is modeled by the entropic risk m…
SACBP: Belief Space Planning for Continuous-Time Dynamical Systems via Stochastic Sequential Action Control
Haruki Nishimura, Mac Schwager
We propose a novel belief space planning technique for continuous dynamics by viewing the belief system as a hybrid dynamical system with time-driven switching. Our approach is bas…