13 citations · 18 across the 6 of their papers we have counts for
4 papers · 1 filter
Robust Agility via Learned Zero Dynamics Policies
Noel Csomay-Shanklin, William D. Compton, Ivan Dario Jimenez Rodriguez +3
We study the design of robust and agile controllers for hybrid underactuated systems. Our approach breaks down the task of creating a stabilizing controller into: 1) learning a map…
Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies
Ivan Dario Jimenez Rodriguez, Noel Csomay-Shanklin, Yisong Yue +1
This work presents Neural Gaits, a method for learning dynamic walking gaits through the enforcement of set invariance that can be refined episodically using experimental data from…
Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision
Ryan K. Cosner, Ivan D. Jimenez Rodriguez, Tamas G. Molnar +4
With the increasing prevalence of complex vision-based sensing methods for use in obstacle identification and state estimation, characterizing environment-dependent measurement err…
Learning to Control an Unstable System with One Minute of Data: Leveraging Gaussian Process Differentiation in Predictive Control
Ivan D. Jimenez Rodriguez, Ugo Rosolia, Aaron D. Ames +1
We present a straightforward and efficient way to control unstable robotic systems using an estimated dynamics model. Specifically, we show how to exploit the differentiability of…