67 citations · 68 across the 14 of their papers we have counts for
3 papers · 1 filter
Improved Sample Complexity of Imitation Learning for Barrier Model Predictive Control
Daniel Pfrommer, Swati Padmanabhan, Kwangjun Ahn +4
Recent work in imitation learning has shown that having an expert controller that is both suitably smooth and stable enables stronger guarantees on the performance of the learned c…
Multi-Query Shortest-Path Problem in Graphs of Convex Sets
Savva Morozov, Tobia Marcucci, Alexandre Amice +4
The Shortest-Path Problem in Graph of Convex Sets (SPP in GCS) is a recently developed optimization framework that blends discrete and continuous decision making. Many relevant pro…
Towards Tight Convex Relaxations for Contact-Rich Manipulation
Bernhard Paus Graesdal, Shao Yuan Chew Chia, Tobia Marcucci +4
We present a novel method for global motion planning of robotic systems that interact with the environment through contacts. Our method directly handles the hybrid nature of such t…