119 citations · 355 across the 60 of their papers we have counts for
5 papers · 2 filters
Learning Stabilizable Nonlinear Dynamics with Contraction-Based Regularization
Sumeet Singh, Spencer M. Richards, Vikas Sindhwani +2
We propose a novel framework for learning stabilizable nonlinear dynamical systems for continuous control tasks in robotics. The key contribution is a control-theoretic regularizer…
High-Dimensional Optimization in Adaptive Random Subspaces
Jonathan Lacotte, Mert Pilanci, Marco Pavone
We propose a new randomized optimization method for high-dimensional problems which can be seen as a generalization of coordinate descent to random subspaces. We show that an adapt…
Trajectory Optimization on Manifolds: A Theoretically-Guaranteed Embedded Sequential Convex Programming Approach
Riccardo Bonalli, Andrew Bylard, Abhishek Cauligi +2
Sequential Convex Programming (SCP) has recently gained popularity as a tool for trajectory optimization due to its sound theoretical properties and practical performance. Yet, mos…
Scalable and Congestion-aware Routing for Autonomous Mobility-on-Demand via Frank-Wolfe Optimization
Kiril Solovey, Mauro Salazar, Marco Pavone
We consider the problem of vehicle routing for Autonomous Mobility-on-Demand (AMoD) systems, wherein a fleet of self-driving vehicles provides on-demand mobility in a given environ…
GuSTO: Guaranteed Sequential Trajectory Optimization via Sequential Convex Programming
Riccardo Bonalli, Abhishek Cauligi, Andrew Bylard +1
Sequential Convex Programming (SCP) has recently seen a surge of interest as a tool for trajectory optimization. However, most available methods lack rigorous performance guarantee…