55 citations · 122 across the 15 of their papers we have counts for
9 papers · 1 filter
Complementarity-Free Multi-Contact Modeling and Optimization for Dexterous Manipulation
Wanxin Jin
A significant barrier preventing model-based methods from achieving real-time and versatile dexterous robotic manipulation is the inherent complexity of multi-contact dynamics. Tra…
Identifying Reaction-Aware Driving Styles of Stochastic Model Predictive Controlled Vehicles by Inverse Reinforcement Learning
Ni Dang, Tao Shi, Zengjie Zhang +3
The driving style of an Autonomous Vehicle (AV) refers to how it behaves and interacts with other AVs. In a multi-vehicle autonomous driving system, an AV capable of identifying th…
Task-Driven Hybrid Model Reduction for Dexterous Manipulation
Wanxin Jin, Michael Posa
In contact-rich tasks, like dexterous manipulation, the hybrid nature of making and breaking contact creates challenges for model representation and control. For example, choosing…
Distributed Differentiable Dynamic Game for Multi-robot Coordination
Yizhi Zhou, Wanxin Jin, Xuan Wang
This paper develops a Distributed Differentiable Dynamic Game (D3G) framework, which can efficiently solve the forward and inverse problems in multi-robot coordination. We formulat…
Inequality Constrained Trajectory Optimization with A Hybrid Multiple-shooting iLQR
Yunxi Tang, Xiangyu Chu, Wanxin Jin +1
Trajectory optimization has been used extensively in robotic systems. In particular, iterative Linear Quadratic Regulator (iLQR) has performed well as an off-line planner and onlin…
Learning from Human Directional Corrections
Wanxin Jin, Todd D. Murphey, Zehui Lu +1
This paper proposes a novel approach that enables a robot to learn an objective function incrementally from human directional corrections. Existing methods learn from human magnitu…
Learning Objective Functions Incrementally by Inverse Optimal Control
Zihao Liang, Wanxin Jin, Shaoshuai Mou
This paper proposes an inverse optimal control method which enables a robot to incrementally learn a control objective function from a collection of trajectory segments. By saying…
Learning from Sparse Demonstrations
Wanxin Jin, Todd D. Murphey, Dana Kulić +2
This paper develops the method of Continuous Pontryagin Differentiable Programming (Continuous PDP), which enables a robot to learn an objective function from a few sparsely demons…
Inverse Optimal Control from Incomplete Trajectory Observations
Wanxin Jin, Dana Kulić, Shaoshuai Mou +1
This article develops a methodology that enables learning an objective function of an optimal control system from incomplete trajectory observations. The objective function is assu…