49 citations · 103 across the 18 of their papers we have counts for
Showing 2021 · cs.ROShow all
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cs.RO2021
Gaussian Process Constraint Learning for Scalable Chance-Constrained Motion Planning from Demonstrations
Glen Chou, Hao Wang, Dmitry Berenson
We propose a method for learning constraints represented as Gaussian processes (GPs) from locally-optimal demonstrations. Our approach uses the Karush-Kuhn-Tucker (KKT) optimality…
cs.RO2021★ 1 cited
Model Error Propagation via Learned Contraction Metrics for Safe Feedback Motion Planning of Unknown Systems
Glen Chou, Necmiye Ozay, Dmitry Berenson
We present a method for contraction-based feedback motion planning of locally incrementally exponentially stabilizable systems with unknown dynamics that provides probabilistic saf…