4 papers
Uncertainty Guided Exploratory Trajectory Optimization for Sampling-Based Model Predictive Control
O. Goktug Poyrazoglu, Yukang Cao, Rahul Moorthy +1
Trajectory optimization depends heavily on initialization. In particular, sampling-based approaches are highly sensitive to initial solutions, and limited exploration frequently le…
C-Free-Uniform: A Map-Conditioned Trajectory Sampler for Model Predictive Path Integral Control
Yukang Cao, Rahul Moorthy, O. Goktug Poyrazoglu +1
Trajectory sampling is a key component of sampling-based control mechanisms. Trajectory samplers rely on control input samplers, which generate control inputs u from a distribution…
An Unsupervised C-Uniform Trajectory Sampler with Applications to Model Predictive Path Integral Control
O. Goktug Poyrazoglu, Rahul Moorthy, Yukang Cao +2
Sampling-based model predictive controllers generate trajectories by sampling control inputs from a fixed, simple distribution such as the normal or uniform distributions. This sam…
VisDiff: SDF-Guided Polygon Generation for Visibility Reconstruction and Recognition
Rahul Moorthy, Jun-Jee Chao, Volkan Isler
The ability to capture rich representations of combinatorial structures has enabled the application of machine learning to tasks such as analysis and generation of floorplans, terr…