50 citations · 79 across the 9 of their papers we have counts for
9 papers
Conformal Generative Modeling on Triangulated Surfaces
Victor Dorobantu, Charlotte Borcherds, Yisong Yue
We propose conformal generative modeling, a framework for generative modeling on 2D surfaces approximated by discrete triangle meshes. Our approach leverages advances in discrete c…
Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors
Noel Csomay-Shanklin, Victor D. Dorobantu, Aaron D. Ames
Achieving stable hopping has been a hallmark challenge in the field of dynamic legged locomotion. Controlled hopping is notably difficult due to extended periods of underactuation…
Compactly Restrictable Metric Policy Optimization Problems
Victor D. Dorobantu, Kamyar Azizzadenesheli, Yisong Yue
We study policy optimization problems for deterministic Markov decision processes (MDPs) with metric state and action spaces, which we refer to as Metric Policy Optimization Proble…
Safety of Sampled-Data Systems with Control Barrier Functions via Approximate Discrete Time Models
Andrew J. Taylor, Victor D. Dorobantu, Ryan K. Cosner +2
Control Barrier Functions (CBFs) have been demonstrated to be a powerful tool for safety-critical controller design for nonlinear systems. Existing design paradigms do not address…
Sampled-Data Stabilization with Control Lyapunov Functions via Quadratically Constrained Quadratic Programs
Andrew J. Taylor, Victor D. Dorobantu, Yisong Yue +2
Controller design for nonlinear systems with Control Lyapunov Function (CLF) based quadratic programs has recently been successfully applied to a diverse set of difficult control t…
Towards Robust Data-Driven Control Synthesis for Nonlinear Systems with Actuation Uncertainty
Andrew J. Taylor, Victor D. Dorobantu, Sarah Dean +3
Modern nonlinear control theory seeks to endow systems with properties such as stability and safety, and has been deployed successfully across various domains. Despite this success…
A Control Lyapunov Perspective on Episodic Learning via Projection to State Stability
Andrew J. Taylor, Victor D. Dorobantu, Meera Krishnamoorthy +3
The goal of this paper is to understand the impact of learning on control synthesis from a Lyapunov function perspective. In particular, rather than consider uncertainties in the f…
Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems
Andrew J. Taylor, Victor D. Dorobantu, Hoang M. Le +2
Many modern nonlinear control methods aim to endow systems with guaranteed properties, such as stability or safety, and have been successfully applied to the domain of robotics. Ho…
DizzyRNN: Reparameterizing Recurrent Neural Networks for Norm-Preserving Backpropagation
Victor Dorobantu, Per Andre Stromhaug, Jess Renteria
The vanishing and exploding gradient problems are well-studied obstacles that make it difficult for recurrent neural networks to learn long-term time dependencies. We propose a rep…