228 citations · 515 across the 40 of their papers we have counts for
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A Theoretical Overview of Neural Contraction Metrics for Learning-based Control with Guaranteed Stability
Hiroyasu Tsukamoto, Soon-Jo Chung, Jean-Jacques Slotine +1
This paper presents a theoretical overview of a Neural Contraction Metric (NCM): a neural network model of an optimal contraction metric and corresponding differential Lyapunov fun…
Dynamical Pose Estimation
Heng Yang, Chris Doran, Jean-Jacques Slotine
We study the problem of aligning two sets of 3D geometric primitives given known correspondences. Our first contribution is to show that this primitive alignment framework unifies…
Adaptive-Control-Oriented Meta-Learning for Nonlinear Systems
Spencer M. Richards, Navid Azizan, Jean-Jacques Slotine +1
Real-time adaptation is imperative to the control of robots operating in complex, dynamic environments. Adaptive control laws can endow even nonlinear systems with good trajectory…
Learning-based Adaptive Control using Contraction Theory
Hiroyasu Tsukamoto, Soon-Jo Chung, Jean-Jacques Slotine
Adaptive control is subject to stability and performance issues when a learned model is used to enhance its performance. This paper thus presents a deep learning-based adaptive con…