43 citations · 151 across the 35 of their papers we have counts for
9 papers · 1 filter
Cost-Driven Representation Learning for Linear Quadratic Gaussian Control: Part I
Yi Tian, Kaiqing Zhang, Russ Tedrake +1
We study the task of learning state representations from potentially high-dimensional observations, with the goal of controlling an unknown partially observable system. We pursue a…
Does Learning from Decentralized Non-IID Unlabeled Data Benefit from Self Supervision?
Lirui Wang, Kaiqing Zhang, Yunzhu Li +2
Decentralized learning has been advocated and widely deployed to make efficient use of distributed datasets, with an extensive focus on supervised learning (SL) problems. Unfortuna…
Global Planning for Contact-Rich Manipulation via Local Smoothing of Quasi-dynamic Contact Models
Tao Pang, H. J. Terry Suh, Lujie Yang +1
The empirical success of Reinforcement Learning (RL) in the setting of contact-rich manipulation leaves much to be understood from a model-based perspective, where the key difficul…
Motion Planning around Obstacles with Convex Optimization
Tobia Marcucci, Mark Petersen, David von Wrangel +1
Trajectory optimization offers mature tools for motion planning in high-dimensional spaces under dynamic constraints. However, when facing complex configuration spaces, cluttered w…
Finding and Optimizing Certified, Collision-Free Regions in Configuration Space for Robot Manipulators
Alexandre Amice, Hongkai Dai, Peter Werner +2
Configuration space (C-space) has played a central role in collision-free motion planning, particularly for robot manipulators. While it is possible to check for collisions at a po…
Elliptical Slice Sampling for Probabilistic Verification of Stochastic Systems with Signal Temporal Logic Specifications
Guy Scher, Sadra Sadraddini, Russ Tedrake +1
Autonomous robots typically incorporate complex sensors in their decision-making and control loops. These sensors, such as cameras and Lidars, have imperfections in their sensing a…