4 papers
Biconvex Optimization for Smooth Minimum-Time Trajectories around Convex Obstacles
Peter Werner, Tobia Marcucci, Daniela Rus
We present a biconvex approach for minimum-time motion planning around convex obstacles that is guaranteed to converge, is anytime, and supports derivative constraints to arbitrary…
Superfast Configuration-Space Convex Set Computation on GPUs for Online Motion Planning
Peter Werner, Richard Cheng, Tom Stewart +2
In this work, we leverage GPUs to construct probabilistically collision-free convex sets in robot configuration space on the fly. This extends the use of modern motion planning alg…
Faster Algorithms for Growing Collision-Free Convex Polytopes in Robot Configuration Space
Peter Werner, Thomas Cohn, Rebecca H. Jiang +4
We propose two novel algorithms for constructing convex collision-free polytopes in robot configuration space. Finding these polytopes enables the application of stronger motion-pl…
Growing Q-Networks: Solving Continuous Control Tasks with Adaptive Control Resolution
Tim Seyde, Peter Werner, Wilko Schwarting +2
Recent reinforcement learning approaches have shown surprisingly strong capabilities of bang-bang policies for solving continuous control benchmarks. The underlying coarse action s…