4 papers
Learning-enabled Parameter Synthesis for Nonlinear Systems from Signal Temporal Logic
Alex Beaudin, Hanna Krasowski, Eric Palanques-Tost +2
Signal Temporal Logic (STL) is increasingly used to describe interpretable objectives and constraints for optimal control and learning methods, especially when no target time serie…
Any-Body Guard: Universal Safeguarding for Manipulation Policies via Action Masking
Alex Beaudin, Hanna Krasowski, Kartik Nagpal +3
Ensuring safety of learning-enabled robotic manipulation across diverse embodiments and tasks still requires significant manual engineering. Existing approaches typically rely on h…
Multi-Step Gaussian Process Propagation for Adaptive Path Planning
Alex Beaudin, Bjørn Andreas Kristiansen, Kristoffer Gryte +4
Efficient and robust path planning hinges on combining all accessible information sources. In particular, the task of path planning for robotic environmental exploration and monito…
Learning Agile Paths from Optimal Control
Alex Beaudin, Hsiu-Chin Lin
Efficient motion planning algorithms are of central importance for deploying robots in the real world. Unfortunately, these algorithms often drastically reduce the dimensionality o…