13 citations · 32 across the 15 of their papers we have counts for
5 papers · 1 filter
Nested Mixture of Experts: Cooperative and Competitive Learning of Hybrid Dynamical System
Junhyeok Ahn, Luis Sentis
Model-based reinforcement learning (MBRL) algorithms can attain significant sample efficiency but require an appropriate network structure to represent system dynamics. Current app…
Task-Adaptive Robot Learning from Demonstration with Gaussian Process Models under Replication
Miguel Arduengo, Adrià Colomé, Júlia Borràs +2
Learning from Demonstration (LfD) is a paradigm that allows robots to learn complex manipulation tasks that can not be easily scripted, but can be demonstrated by a human teacher.…
A Complex Stiffness Human Impedance Model with Customizable Exoskeleton Control
Binghan He, Huang Huang, Gray C. Thomas +1
The natural impedance, or dynamic relationship between force and motion, of a human operator can determine the stability of exoskeletons that use interaction-torque feedback to amp…
MPC-Based Hierarchical Task Space Control of Underactuated and Constrained Robots for Execution of Multiple Tasks
Jaemin Lee, Seung Hyeon Bang, Efstathios Bakolas +1
This paper proposes an MPC-based controller to efficiently execute multiple hierarchical tasks for underactuated and constrained robotic systems. Existing task-space controllers or…
BP-RRT: Barrier Pair Synthesis for Temporal Logic Motion Planning
Binghan He, Jaemin Lee, Ufuk Topcu +1
For a nonlinear system (e.g. a robot) with its continuous state space trajectories constrained by a linear temporal logic specification, the synthesis of a low-level controller for…