84 citations · 349 across the 38 of their papers we have counts for
13 papers · 1 filter
Towards Coordinated Robot Motions: End-to-End Learning of Motion Policies on Transform Trees
M. Asif Rana, Anqi Li, Dieter Fox +3
Generating robot motion that fulfills multiple tasks simultaneously is challenging due to the geometric constraints imposed by the robot. In this paper, we propose to solve multi-t…
Blending MPC & Value Function Approximation for Efficient Reinforcement Learning
Mohak Bhardwaj, Sanjiban Choudhury, Byron Boots
Model-Predictive Control (MPC) is a powerful tool for controlling complex, real-world systems that uses a model to make predictions about future behavior. For each state encountere…
Grasping with Chopsticks: Combating Covariate Shift in Model-free Imitation Learning for Fine Manipulation
Liyiming Ke, Jingqiang Wang, Tapomayukh Bhattacharjee +2
Billions of people use chopsticks, a simple yet versatile tool, for fine manipulation of everyday objects. The small, curved, and slippery tips of chopsticks pose a challenge for p…
Stein Variational Model Predictive Control
Alexander Lambert, Adam Fishman, Dieter Fox +2
Decision making under uncertainty is critical to real-world, autonomous systems. Model Predictive Control (MPC) methods have demonstrated favorable performance in practice, but rem…
Quantum Tensor Networks, Stochastic Processes, and Weighted Automata
Siddarth Srinivasan, Sandesh Adhikary, Jacob Miller +2
Modeling joint probability distributions over sequences has been studied from many perspectives. The physics community developed matrix product states, a tensor-train decomposition…
Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotion
Xingye Da, Zhaoming Xie, David Hoeller +5
We present a hierarchical framework that combines model-based control and reinforcement learning (RL) to synthesize robust controllers for a quadruped (the Unitree Laikago). The sy…