16 citations · 49 across the 26 of their papers we have counts for
5 papers · 2 filters
Adaptive Model Predictive Control by Learning Classifiers
Rel Guzman, Rafael Oliveira, Fabio Ramos
Stochastic model predictive control has been a successful and robust control framework for many robotics tasks where the system dynamics model is slightly inaccurate or in the pres…
DiSECt: A Differentiable Simulator for Parameter Inference and Control in Robotic Cutting
Eric Heiden, Miles Macklin, Yashraj Narang +3
Robotic cutting of soft materials is critical for applications such as food processing, household automation, and surgical manipulation. As in other areas of robotics, simulators c…
L4KDE: Learning for KinoDynamic Tree Expansion
Tin Lai, Weiming Zhi, Tucker Hermans +1
We present the Learning for KinoDynamic Tree Expansion (L4KDE) method for kinodynamic planning. Tree-based planning approaches, such as rapidly exploring random tree (RRT), are the…
Bayesian Optimisation for Robust Model Predictive Control under Model Parameter Uncertainty
Rel Guzman, Rafael Oliveira, Fabio Ramos
We propose an adaptive optimisation approach for tuning stochastic model predictive control (MPC) hyper-parameters while jointly estimating probability distributions of the transit…
Stein Particle Filter for Nonlinear, Non-Gaussian State Estimation
Fahira Afzal Maken, Fabio Ramos, Lionel Ott
Estimation of a dynamical system's latent state subject to sensor noise and model inaccuracies remains a critical yet difficult problem in robotics. While Kalman filters provide th…