From the 1 of 9 linked papers with an AI index.
8 papers
Distributionally Robust Control via Stein Variational Inference for Contact-Rich Manipulation
Hrishikesh Sathyanarayan, Victor Vantilborgh, Harish Ravichandar +2
The paper introduces a model‑based manipulation controller that uses Stein variational inference to model task‑sensitive uncertainty, improving robustness in contact‑rich robotic t…
Optimal Path Planning of Airborne Wind Energy Systems with a Flexible Tether
Omid Heydarnia, Jolan Wauters, Tom Lefebvre +1
In this work, we establish an optimal control framework for airborne wind energy systems (AWESs) with flexible tethers. The AWES configuration, consisting of a six-degree-of-freedo…
Unifying Entropy Regularization in Optimal Control: From and Back to Classical Objectives via Iterated Soft Policies and Path Integral Solutions
Ajinkya Bhole, Mohammad Mahmoudi Filabadi, Guillaume Crevecoeur +1
This paper develops a unified perspective on several optimal control formulations through the lens of Kullback-Leibler (KL) regularization. We propose a central problem that separa…
Gaussian Process Dual MPC using Active Inference: An Autonomous Vehicle Usecase
Mohammad Mahmoudi Filabadi, Guillaume Crevecoeur, Tom Lefebvre
Designing controllers under uncertainty requires balancing the need to explore system dynamics with the requirement to maintain reliable control performance. Dual control addresses…
How to Capture Human Preference: Commissioning of a Robotic Use-Case via Preferential Bayesian Optimisation
Sander De Witte, Jeroen Taets, Andras Retzler +2
The popularity of Bayesian Optimization (BO) to automate or support the commissioning of engineering systems is rising. Conventional BO, however, relies on the availability of a sc…
Differential Flatness of Quasi-Static Slider-Pusher Models with Applications in Control
Sander De Witte, Tom Lefebvre, Thomas Neve +2
This paper investigates the dynamic properties of planar slider-pusher systems as a motion primitive in manipulation tasks. To that end, we construct a differential kinematic model…