4 papers
Asymptotically Optimal Ergodic Coverage on Generalized Motion Fields
Christian Hughes, Yilang Liu, Yanis Lahrach +6
Autonomous robotic exploration in remote and extreme environments allows scientists to model complex transport phenomena and collective behaviors described by continuously deformin…
Deformable Cluster Manipulation via Whole-Arm Policy Learning
Jayadeep Jacob, Wenzheng Zhang, Houston Warren +3
Manipulating clusters of deformable objects presents a substantial challenge with widespread applicability, but requires contact-rich whole-arm interactions. A potential solution m…
Ergodic Trajectory Optimization on Generalized Domains Using Maximum Mean Discrepancy
Christian Hughes, Houston Warren, Darrick Lee +2
We present a novel formulation of ergodic trajectory optimization that can be specified over general domains using kernel maximum mean discrepancy. Ergodic trajectory optimization…
Stein Random Feature Regression
Houston Warren, Rafael Oliveira, Fabio Ramos
In large-scale regression problems, random Fourier features (RFFs) have significantly enhanced the computational scalability and flexibility of Gaussian processes (GPs) by defining…