173 citations · 876 across the 56 of their papers we have counts for
3 papers · 1 filter
Hybrid Random Features
Krzysztof Choromanski, Haoxian Chen, Han Lin +10
We propose a new class of random feature methods for linearizing softmax and Gaussian kernels called hybrid random features (HRFs) that automatically adapt the quality of kernel es…
Optimizing Trajectories with Closed-Loop Dynamic SQP
Sumeet Singh, Jean-Jacques Slotine, Vikas Sindhwani
Indirect trajectory optimization methods such as Differential Dynamic Programming (DDP) have found considerable success when only planning under dynamic feasibility constraints. Me…
Trajectory Optimization with Optimization-Based Dynamics
Taylor A. Howell, Simon Le Cleac'h, Sumeet Singh +3
We present a framework for bi-level trajectory optimization in which a system's dynamics are encoded as the solution to a constrained optimization problem and smooth gradients of t…