222 citations · 250 across the 11 of their papers we have counts for
3 papers · 2 filters
End-to-end QP-based policies: A unified perspective on robust control and robot learning
Fausto Vega, Priyanka Supraja Balaji, Chase Dunaway +3
We present an end-to-end QP-based policy framework that enables systematic policy construction with minimal domain-specific design, while preserving the transparency and interpreta…
Fast and Robust Temporal Logic Planning via ADMM-based Trajectory Optimization
Lukas Pries, Joris Verhagen, Jon Arrizabalaga +3
We present a fast numerical method for safe continuous-time motion planning under Temporal Logic (TL) specifications. The method generates smooth continuous trajectories that remai…
ADMM-based Continuous Trajectory Optimization in Graphs of Convex Sets
Lukas Pries, Jon Arrizabalaga, Zachary Manchester +1
This paper presents a numerical solver for computing continuous trajectories in non-convex environments. Our approach relies on a customized implementation of the Alternating Direc…