62 citations · 143 across the 11 of their papers we have counts for
3 papers · 1 filter
Hybrid DDP in Clutter (CHDDP): Trajectory Optimization for Hybrid Dynamical System in Cluttered Environments
Shushman Choudhury, Yifan Hou, Gilwoo Lee +1
We present an algorithm for obtaining an optimal control policy for hybrid dynamical systems in cluttered environments. To the best of our knowledge, this is the first attempt to h…
Unsupervised Learning for Nonlinear PieceWise Smooth Hybrid Systems
Gilwoo Lee, Zita Marinho, Aaron M. Johnson +3
This paper introduces a novel system identification and tracking method for PieceWise Smooth (PWS) nonlinear stochastic hybrid systems. We are able to correctly identify and track…
GP-ILQG: Data-driven Robust Optimal Control for Uncertain Nonlinear Dynamical Systems
Gilwoo Lee, Siddhartha S. Srinivasa, Matthew T. Mason
As we aim to control complex systems, use of a simulator in model-based reinforcement learning is becoming more common. However, it has been challenging to overcome the Reality Gap…