55 citations · 122 across the 15 of their papers we have counts for
3 papers · 1 filter
Learning Linear Complementarity Systems
Wanxin Jin, Alp Aydinoglu, Mathew Halm +1
This paper investigates the learning, or system identification, of a class of piecewise-affine dynamical systems known as linear complementarity systems (LCSs). We propose a violat…
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…
Safe Pontryagin Differentiable Programming
Wanxin Jin, Shaoshuai Mou, George J. Pappas
We propose a Safe Pontryagin Differentiable Programming (Safe PDP) methodology, which establishes a theoretical and algorithmic framework to solve a broad class of safety-critical…