173 citations · 509 across the 29 of their papers we have counts for
3 papers · 1 filter
Robust Tracking with Model Mismatch for Fast and Safe Planning: an SOS Optimization Approach
Sumeet Singh, Mo Chen, Sylvia L. Herbert +2
In the pursuit of real-time motion planning, a commonly adopted practice is to compute a trajectory by running a planning algorithm on a simplified, low-dimensional dynamical model…
Reach-Avoid Problems via Sum-of-Squares Optimization and Dynamic Programming
Benoit Landry, Mo Chen, Scott Hemley +1
Reach-avoid problems involve driving a system to a set of desirable configurations while keeping it away from undesirable ones. Providing mathematical guarantees for such scenarios…
BaRC: Backward Reachability Curriculum for Robotic Reinforcement Learning
Boris Ivanovic, James Harrison, Apoorva Sharma +2
Model-free Reinforcement Learning (RL) offers an attractive approach to learn control policies for high-dimensional systems, but its relatively poor sample complexity often forces…