332 citations · 2.9k across the 95 of their papers we have counts for
106 papers
Avoidance of Concave Obstacles through Rotation of Nonlinear Dynamics
Lukas Huber, Jean-Jacques Slotine, Aude Billard
Controlling complex tasks in robotic systems, such as circular motion for cleaning or following curvy lines, can be dealt with using nonlinear vector fields. In this paper, we intr…
MinMax Networks
Winfried Lohmiller, Philipp Gassert, Jean-Jacques Slotine
While much progress has been achieved over the last decades in neuro-inspired machine learning, there are still fundamental theoretical problems in gradient-based learning using co…
Scaling Spherical CNNs
Carlos Esteves, Jean-Jacques Slotine, Ameesh Makadia
Spherical CNNs generalize CNNs to functions on the sphere, by using spherical convolutions as the main linear operation. The most accurate and efficient way to compute spherical co…
Agile Catching with Whole-Body MPC and Blackbox Policy Learning
Saminda Abeyruwan, Alex Bewley, Nicholas M. Boffi +9
We address a benchmark task in agile robotics: catching objects thrown at high-speed. This is a challenging task that involves tracking, intercepting, and cradling a thrown object…
Natural Metrics in Contraction Analysis
Winfried Lohmiller, Jean-Jacques Slotine
Contraction analysis establishes exponential incremental convergence of a nonlinear system by solving a linear matrix inequality for a contraction metric, and has become a standard…
Learning Control-Oriented Dynamical Structure from Data
Spencer M. Richards, Jean-Jacques Slotine, Navid Azizan +1
Even for known nonlinear dynamical systems, feedback controller synthesis is a difficult problem that often requires leveraging the particular structure of the dynamics to induce a…