3 papers
cs.RO2025
First Order Model-Based RL through Decoupled Backpropagation
Joseph Amigo, Rooholla Khorrambakht, Elliot Chane-Sane +2
There is growing interest in reinforcement learning (RL) methods that leverage the simulator's derivatives to improve learning efficiency. While early gradient-based approaches hav…
eess.SY2024
Collision Avoidance for Convex Primitives via Differentiable Optimization Based High-Order Control Barrier Functions
Shiqing Wei, Rooholla Khorrambakht, Prashanth Krishnamurthy +2
Ensuring the safety of dynamical systems is crucial, where collision avoidance is a primary concern. Recently, control barrier functions (CBFs) have emerged as an effective method…
cs.RO2024
Open-Architecture End-to-End System for Real-World Autonomous Robot Navigation
Venkata Naren Devarakonda, Ali Umut Kaypak, Raktim Gautam Goswami +4
Enabling robots to autonomously navigate unknown, complex, and dynamic real-world environments presents several challenges, including imperfect perception, partial observability, l…