419 citations · 719 across the 20 of their papers we have counts for
21 papers
Towards Dynamic Causal Discovery with Rare Events: A Nonparametric Conditional Independence Test
Chih-Yuan Chiu, Kshitij Kulkarni, Shankar Sastry
Causal phenomena associated with rare events occur across a wide range of engineering problems, such as risk-sensitive safety analysis, accident analysis and prevention, and extrem…
Lyapunov Design for Robust and Efficient Robotic Reinforcement Learning
Tyler Westenbroek, Fernando Castaneda, Ayush Agrawal +2
Recent advances in the reinforcement learning (RL) literature have enabled roboticists to automatically train complex policies in simulated environments. However, due to the poor s…
On the Computational Consequences of Cost Function Design in Nonlinear Optimal Control
Tyler Westenbroek, Anand Siththaranjan, Mohsin Sarwari +2
Optimal control is an essential tool for stabilizing complex nonlinear systems. However, despite the extensive impacts of methods such as receding horizon control, dynamic programm…
Dynamic Tolling for Inducing Socially Optimal Traffic Loads
Chinmay Maheshwari, Kshitij Kulkarni, Manxi Wu +1
How to design tolls that induce socially optimal traffic loads with dynamically arriving travelers who make selfish routing decisions? We propose a two-timescale discrete-time stoc…
Extending DeepSDF for automatic 3D shape retrieval and similarity transform estimation
Oladapo Afolabi, Allen Y. Yang, S. Shankar Sastry
Recent advances in computer graphics and computer vision have found successful application of deep neural network models for 3D shapes based on signed distance functions (SDFs) tha…
Safe Sequential Path Planning of Multi-Vehicle Systems via Double-Obstacle Hamilton-Jacobi-Isaacs Variational Inequality
Mo Chen, Jaime F. Fisac, Shankar Sastry +1
We consider the problem of planning trajectories for a group of vehicles, each aiming to reach its own target set while avoiding danger zones of other vehicles. The analysis of…