6 citations · 6 across the 5 of their papers we have counts for
8 papers
Learning Stabilizable Nonlinear Dynamics with Contraction-Based Regularization
Sumeet Singh, Spencer M. Richards, Vikas Sindhwani +2
We propose a novel framework for learning stabilizable nonlinear dynamical systems for continuous control tasks in robotics. The key contribution is a control-theoretic regularizer…
Improving Robustness of Machine Translation with Synthetic Noise
Vaibhav Vaibhav, Sumeet Singh, Craig Stewart +1
Modern Machine Translation (MT) systems perform consistently well on clean, in-domain text. However most human generated text, particularly in the realm of social media, is full of…
Reduced Order Model Predictive Control For Setpoint Tracking
Joseph Lorenzetti, Benoit Landry, Sumeet Singh +1
Despite the success of model predictive control (MPC), its application to high-dimensional systems, such as flexible structures and coupled fluid/rigid-body systems, remains a larg…
Robust Tracking with Model Mismatch for Fast and Safe Planning: an SOS Optimization Approach
Sumeet Singh, Mo Chen, Sylvia L. Herbert +2
In the pursuit of real-time motion planning, a commonly adopted practice is to compute a trajectory by running a planning algorithm on a simplified, low-dimensional dynamical model…
Learning Stabilizable Dynamical Systems via Control Contraction Metrics
Sumeet Singh, Vikas Sindhwani, Jean-Jacques E. Slotine +1
We propose a novel framework for learning stabilizable nonlinear dynamical systems for continuous control tasks in robotics. The key idea is to develop a new control-theoretic regu…
A Framework for Time-Consistent, Risk-Sensitive Model Predictive Control: Theory and Algorithms
Sumeet Singh, Yin-Lam Chow, Anirudha Majumdar +1
In this paper we present a framework for risk-sensitive model predictive control (MPC) of linear systems affected by stochastic multiplicative uncertainty. Our key innovation is to…
A Framework for Time-Consistent, Risk-Averse Model Predictive Control: Theory and Algorithms
Yin-Lam Chow, Marco Pavone
In this paper we present a framework for risk-averse model predictive control (MPC) of linear systems affected by multiplicative uncertainty. Our key innovation is to consider time…
Decentralized Algorithms for 3D Symmetric Formations in Robotic Networks: a Contraction Theory Approach
Sumeet Singh, Edward Schmerling, Marco Pavone
This paper presents decentralized algorithms for formation control of multiple robots in three dimensions. Specifically, we leverage the mathematical properties of cyclic pursuit a…