34 citations · 88 across the 12 of their papers we have counts for
3 papers · 2 filters
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…
A Fast Stochastic Contact Model for Planar Pushing and Grasping: Theory and Experimental Validation
Jiaji Zhou, J. Andrew Bagnell, Matthew T. Mason
Based on the convex force-motion polynomial model for quasi-static sliding, we derive the kinematic contact model to determine the contact modes and instantaneous object motion on…
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…