3 papers
cs.RO2026
Stochastic Multiple Shooting Trajectory Optimization via Sequential Local Policy Evaluation
Ashwin Gupta, Joseph Moore
Stochastic single shooting trajectory optimization methods such as Model Predictive Path Integral control (MPPI) have been widely adopted in robotics due to their ability to reason…
cs.AI2026
Evaluating Risks in Weak-to-Strong Alignment: A Bias-Variance Perspective
Hamid Osooli, Kareema Batool, Rick Gentry +3
Weak-to-strong alignment offers a promising route to scalable supervision, but it can fail when a strong model becomes confidently wrong on examples that lie in the weak model's bl…
cs.RO2025
Real-Time Planning and Control with a Vortex Particle Model for Fixed-Wing UAVs in Unsteady Flows
Ashwin Gupta, Kevin Wolfe, Gino Perrotta +1
Unsteady aerodynamic effects can have a profound impact on aerial vehicle flight performance, especially during agile maneuvers and in complex aerodynamic environments. In this pap…