49 citations · 103 across the 18 of their papers we have counts for
18 papers
Improving Out-of-Distribution Generalization of Learned Dynamics by Learning Pseudometrics and Constraint Manifolds
Yating Lin, Glen Chou, Dmitry Berenson
We propose a method for improving the prediction accuracy of learned robot dynamics models on out-of-distribution (OOD) states. We achieve this by leveraging two key sources of str…
Fighting Uncertainty with Gradients: Offline Reinforcement Learning via Diffusion Score Matching
H. J. Terry Suh, Glen Chou, Hongkai Dai +3
Gradient-based methods enable efficient search capabilities in high dimensions. However, in order to apply them effectively in offline optimization paradigms such as offline Reinfo…
Synthesizing Stable Reduced-Order Visuomotor Policies for Nonlinear Systems via Sums-of-Squares Optimization
Glen Chou, Russ Tedrake
We present a method for synthesizing dynamic, reduced-order output-feedback polynomial control policies for control-affine nonlinear systems which guarantees runtime stability to a…
Data-Efficient Learning of Natural Language to Linear Temporal Logic Translators for Robot Task Specification
Jiayi Pan, Glen Chou, Dmitry Berenson
To make robots accessible to a broad audience, it is critical to endow them with the ability to take universal modes of communication, like commands given in natural language, and…
Statistical Safety and Robustness Guarantees for Feedback Motion Planning of Unknown Underactuated Stochastic Systems
Craig Knuth, Glen Chou, Jamie Reese +1
We present a method for providing statistical guarantees on runtime safety and goal reachability for integrated planning and control of a class of systems with unknown nonlinear st…
Safe Output Feedback Motion Planning from Images via Learned Perception Modules and Contraction Theory
Glen Chou, Necmiye Ozay, Dmitry Berenson
We present a motion planning algorithm for a class of uncertain control-affine nonlinear systems which guarantees runtime safety and goal reachability when using high-dimensional s…