140 citations · 680 across the 37 of their papers we have counts for
46 papers
On the Stability of Nonlinear Receding Horizon Control: A Geometric Perspective
Tyler Westenbroek, Max Simchowitz, Michael I. Jordan +1
%!TEX root = LCSS_main_max.tex The widespread adoption of nonlinear Receding Horizon Control (RHC) strategies by industry has led to more than 30 years of intense research efforts…
Maximum Likelihood Constraint Inference from Stochastic Demonstrations
David L. McPherson, Kaylene C. Stocking, S. Shankar Sastry
When an expert operates a perilous dynamic system, ideal constraint information is tacitly contained in their demonstrated trajectories and controls. The likelihood of these demons…
Expert Selection in High-Dimensional Markov Decision Processes
Vicenc Rubies-Royo, Eric Mazumdar, Roy Dong +2
In this work we present a multi-armed bandit framework for online expert selection in Markov decision processes and demonstrate its use in high-dimensional settings. Our method tak…
Learning Min-norm Stabilizing Control Laws for Systems with Unknown Dynamics
Tyler Westenbroek, Fernando Castaneda, Ayush Agrawal +2
This paper introduces a framework for learning a minimum-norm stabilizing controller for a system with unknown dynamics using model-free policy optimization methods. The approach b…
Exponentially Stable First Order Control on Matrix Lie Groups
Valmik Prabhu, Amay Saxena, S. Shankar Sastry
We present a novel first order controller for systems evolving on matrix Lie groups, a major use case of which is Cartesian velocity control on robot manipulators. This controller…
LESS is More: Rethinking Probabilistic Models of Human Behavior
Andreea Bobu, Dexter R. R. Scobee, Jaime F. Fisac +2
Robots need models of human behavior for both inferring human goals and preferences, and predicting what people will do. A common model is the Boltzmann noisily-rational decision m…