18 citations · 22 across the 3 of their papers we have counts for
4 papers · 1 filter
Entropy Regularized Motion Planning via Stein Variational Inference
Alexander Lambert, Byron Boots
Many Imitation and Reinforcement Learning approaches rely on the availability of expert-generated demonstrations for learning policies or value functions from data. Obtaining a rel…
Stein Variational Model Predictive Control
Alexander Lambert, Adam Fishman, Dieter Fox +2
Decision making under uncertainty is critical to real-world, autonomous systems. Model Predictive Control (MPC) methods have demonstrated favorable performance in practice, but rem…
Joint Inference of Kinematic and Force Trajectories with Visuo-Tactile Sensing
Alexander Lambert, Mustafa Mukadam, Balakumar Sundaralingam +3
To perform complex tasks, robots must be able to interact with and manipulate their surroundings. One of the key challenges in accomplishing this is robust state estimation during…
Robust Learning of Tactile Force Estimation through Robot Interaction
Balakumar Sundaralingam, Alexander Lambert, Ankur Handa +5
Current methods for estimating force from tactile sensor signals are either inaccurate analytic models or task-specific learned models. In this paper, we explore learning a robust…