3 papers
cs.RO2020
Memory Clustering using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-starts
Wolfgang Merkt, Vladimir Ivan, Traiko Dinev +2
Shooting methods are an efficient approach to solving nonlinear optimal control problems. As they use local optimization, they exhibit favorable convergence when initialized with a…
cs.RO2020
Modeling and Control of a Hybrid Wheeled Jumping Robot
Traiko Dinev, Songyan Xin, Wolfgang Merkt +2
In this paper, we study a wheeled robot with a prismatic extension joint. This allows the robot to build up momentum to perform jumps over obstacles and to swing up to the upright…
stat.ML2018
Dynamic Likelihood-free Inference via Ratio Estimation (DIRE)
Traiko Dinev, Michael U. Gutmann
Parametric statistical models that are implicitly defined in terms of a stochastic data generating process are used in a wide range of scientific disciplines because they enable ac…