2 papers
cs.RO2026
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…
eess.SY2024
Safe Control of Quadruped in Varying Dynamics via Safety Index Adaptation
Kai S. Yun, Rui Chen, Chase Dunaway +2
Varying dynamics pose a fundamental difficulty when deploying safe control laws in the real world. Safety Index Synthesis (SIS) deeply relies on the system dynamics and once the dy…