4 papers
Learning Material-Aware Hamiltonian Risk Fields for Safe Navigation
Aditya Sai Ellendula, Yi Wang, Chandrajit Bajaj
Risk-aware navigation should be selective: a policy should expose evasive degrees of freedom only when the local scene admits a lower-risk feasible maneuver, and suppress them when…
When Descent Is Too Stable: Event-Triggered Hamiltonian Learning to Optimize
Yi Wang, Chandrajit Bajaj
Fixed-budget nonconvex optimization can fail not because local descent is unstable, but because it is too stable: after reaching a nearby stationary point, an optimizer may spend t…
GRL-SNAM: Geometric Reinforcement Learning with Path Differential Hamiltonians for Simultaneous Navigation and Mapping in Unknown Environments
Aditya Sai Ellendula, Yi Wang, Minh Nguyen +1
We present GRL-SNAM, a geometric reinforcement learning framework for Simultaneous Navigation and Mapping(SNAM) in unknown environments. A SNAM problem is challenging as it needs t…
Learning Generalized Hamiltonian Dynamics with Stability from Noisy Trajectory Data
Luke McLennan, Yi Wang, Ryan Farell +2
We introduce a robust framework for learning various generalized Hamiltonian dynamics from noisy, sparse phase-space data and in an unsupervised manner based on variational Bayesia…