3 papers
math.OC2021
Robust Control Under Uncertainty via Bounded Rationality and Differential Privacy
Vincent Pacelli, Anirudha Majumdar
The rapid development of affordable and compact high-fidelity sensors (e.g., cameras and LIDAR) allows robots to construct detailed estimates of their states and environments. Howe…
cs.LG2020
Invariant Policy Optimization: Towards Stronger Generalization in Reinforcement Learning
Anoopkumar Sonar, Vincent Pacelli, Anirudha Majumdar
A fundamental challenge in reinforcement learning is to learn policies that generalize beyond the operating domains experienced during training. In this paper, we approach this cha…
cs.LG2020
Learning Task-Driven Control Policies via Information Bottlenecks
Vincent Pacelli, Anirudha Majumdar
This paper presents a reinforcement learning approach to synthesizing task-driven control policies for robotic systems equipped with rich sensory modalities (e.g., vision or depth)…