3 papers
cs.LG2024
Verification-Aided Learning of Neural Network Barrier Functions with Termination Guarantees
Shaoru Chen, Lekan Molu, Mahyar Fazlyab
Barrier functions are a general framework for establishing a safety guarantee for a system. However, there is no general method for finding these functions. To address this shortco…
cs.RO2023
Lagrangian Properties and Control of Soft Robots Modeled with Discrete Cosserat Rods
Lekan Molu, Shaoru Chen, Audrey Sedal
The characteristic ``in-plane" bending associated with soft robots' deformation make them preferred over rigid robots in sophisticated manipulation and movement tasks. Executing su…
cs.LG2023
PcLast: Discovering Plannable Continuous Latent States
Anurag Koul, Shivakanth Sujit, Shaoru Chen +11
Goal-conditioned planning benefits from learned low-dimensional representations of rich observations. While compact latent representations typically learned from variational autoen…