5 citations · 17 across the 14 of their papers we have counts for
7 papers · 1 filter
Reachability-Guided Sequential Quadratic Programming-Guarded Model Predictive Path Integral for Safe Nonlinear Predictive Control
Alexandre Didier, Jason J. Choi, Namhoon Cho +2
Safe robot control often requires combining long-horizon performance optimization with hard state and input constraints, but existing approaches tend to address this tradeoff parti…
Whole-Body Bilateral Teleoperation with Multi-Stage Object Parameter Estimation for Wheeled Humanoid Locomanipulation
Donghoon Baek, Amartya Purushottam, Jason J. Choi +1
This paper presents an object-aware whole-body bilateral teleoperation framework for wheeled humanoid loco-manipulation. This framework combines whole-body bilateral teleoperation…
Resolving Conflicting Constraints in Multi-Agent Reinforcement Learning with Layered Safety
Jason J. Choi, Jasmine Jerry Aloor, Jingqi Li +3
Preventing collisions in multi-robot navigation is crucial for deployment. This requirement hinders the use of learning-based approaches, such as multi-agent reinforcement learning…
Gait Switching and Enhanced Stabilization of Walking Robots with Deep Learning-based Reachability: A Case Study on Two-link Walker
Xingpeng Xia, Jason J. Choi, Ayush Agrawal +3
Learning-based approaches have recently shown notable success in legged locomotion. However, these approaches often lack accountability, necessitating empirical tests to determine…
Constraint-Guided Online Data Selection for Scalable Data-Driven Safety Filters in Uncertain Robotic Systems
Jason J. Choi, Fernando Castañeda, Wonsuhk Jung +3
As the use of autonomous robots expands in tasks that are complex and challenging to model, the demand for robust data-driven control methods that can certify safety and stability…
Computation of Regions of Attraction for Hybrid Limit Cycles Using Reachability: An Application to Walking Robots
Jason J. Choi, Ayush Agrawal, Koushil Sreenath +2
Contact-rich robotic systems, such as legged robots and manipulators, are often represented as hybrid systems. However, the stability analysis and region-of-attraction computation…
Scalable Learning of Safety Guarantees for Autonomous Systems using Hamilton-Jacobi Reachability
Sylvia Herbert, Jason J. Choi, Suvansh Sanjeev +3
Autonomous systems like aircraft and assistive robots often operate in scenarios where guaranteeing safety is critical. Methods like Hamilton-Jacobi reachability can provide guaran…