5 papers
RAEM: Robust Autonomous Exploration for Multi-Floor Environments with a Quadruped Robot
Zikang Yuan, Yuan Ren, Yian Wang +10
In this paper, we propose RAEM, a robust autonomous exploration framework for quadruped robots operating in multi-floor environments. Most existing ground-robot exploration approac…
When Is Two-Stage Sample Robust Optimization Asymptotically Optimal? A Simple Perspective
Ling Dai, Chin Pang Ho
Two-stage sample robust optimization with linear decision rules is a standard data-driven approach to two-stage stochastic linear programs with unknown distributions. \cite{bertsim…
Data-Driven Contextual Optimization with Gaussian Mixtures: Flow-Based Generalization, Robust Models, and Multistage Extensions
YoungChul Yoon, Ling Dai, Grani A. Hanasusanto +2
Contextual optimization enhances decision quality by leveraging side information to improve predictions of uncertain parameters. However, existing approaches face significant chall…
Generalization Bounds for Contextual Stochastic Optimization using Kernel Regression
Yijie Wang, Grani A. Hanasusanto, Chin Pang Ho
In this paper, we consider contextual stochastic optimization using Nadaraya-Watson kernel regression, which is one of the most common approaches in nonparametric regression. Recen…
Wasserstein Distributionally Robust Chance Constrained Trajectory Optimization for Mobile Robots within Uncertain Safe Corridor
Shaohang Xu, Haolin Ruan, Wentao Zhang +3
Safe corridor-based Trajectory Optimization (TO) presents an appealing approach for collision-free path planning of autonomous robots, offering global optimality through its convex…