123 citations · 203 across the 13 of their papers we have counts for
3 papers · 2 filters
Approximate Optimal Controller Synthesis for Cart-Poles and Quadrotors via Sums-of-Squares
Lujie Yang, Hongkai Dai, Alexandre Amice +1
Sums-of-squares (SOS) optimization is a promising tool to synthesize certifiable controllers for nonlinear dynamical systems. Building upon prior works, we demonstrate that SOS can…
Certified Polyhedral Decompositions of Collision-Free Configuration Space
Hongkai Dai, Alexandre Amice, Peter Werner +2
Understanding the geometry of collision-free configuration space (C-free) in the presence of task-space obstacles is an essential ingredient for collision-free motion planning. Whi…
AdaptSim: Task-Driven Simulation Adaptation for Sim-to-Real Transfer
Allen Z. Ren, Hongkai Dai, Benjamin Burchfiel +1
Simulation parameter settings such as contact models and object geometry approximations are critical to training robust robotic policies capable of transferring from simulation to…