1 citations · 2 across the 8 of their papers we have counts for
4 papers · 1 filter
Function-Space Diffusion for Motion Planning
Zinuo Chang, Yipu Chen, Byoungwoo Park +2
Diffusion-based motion planners have demonstrated strong performance in generating diverse and high-quality robot trajectories in cluttered environments with multiple feasible solu…
PISTO: Proximal Inference for Stochastic Trajectory Optimization
Hongzhe Yu, Zinuo Chang, Yongxin Chen
Stochastic trajectory optimization methods like STOMP enable planning with non-differentiable costs, offering substantial flexibility over gradient-based approaches. We show that S…
Concentration of Stochastic System Trajectories with Time-varying Contraction Conditions
Zishun Liu, Liqian Ma, Hongzhe Yu +1
We establish two concentration inequalities for nonlinear stochastic system under time-varying contraction conditions. The key to our approach is an energy function termed Averaged…
Path Integral Particle Filtering for Hybrid Systems via Saltation Matrices
Karthik Shaji, Sreeranj Jayadevan, Bo Yuan +2
State estimation for hybrid systems that undergo intermittent contact with their environments, such as extraplanetary robots and satellites undergoing docking operations, is diffic…