4 papers
Self-Shielded Multigroup Microscopic Cross Section Generation Using Targeted Artificial Neural Networks
Joshua Nichols, Andrew Osborne, Ben Whewell +1
Multigroup neutron transport models are used widely in simulation codes due to their memory and compute efficiency compared to continuous energy methods. However, multigroup codes…
How to Train Your Latent Control Barrier Function: Smooth Safety Filtering Under Hard-to-Model Constraints
Kensuke Nakamura, Arun L. Bishop, Steven Man +3
Latent safety filters extend Hamilton-Jacobi (HJ) reachability to operate on latent state representations and dynamics learned directly from high-dimensional observations, enabling…
The Surprising Effectiveness of Linear Models for Whole-Body Model-Predictive Control
Arun L. Bishop, Juan Alvarez-Padilla, Sam Schoedel +8
When do locomotion controllers require reasoning about nonlinearities? In this work, we show that a whole-body model-predictive controller using a simple linear time-invariant appr…
Multi-IMU Sensor Fusion for Legged Robots
Shuo Yang, Zixin Zhang, John Z. Zhang +2
This paper presents a state-estimation solution for legged robots that uses a set of low-cost, compact, and lightweight sensors to achieve low-drift pose and velocity estimation un…