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03/01/2023
The Virtues of Laziness in Model-based RL: A Unified Objective and Algorithms
We propose a novel approach to addressing two fundamental challenges in ...
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11/17/2021
On the Effectiveness of Iterative Learning Control
Iterative learning control (ILC) is a powerful technique for high perfor...
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09/25/2021
Improved Soft Duplicate Detection in Search-Based Motion Planning
Search-based techniques have shown great success in motion planning prob...
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09/21/2020
CMAX++ : Leveraging Experience in Planning and Execution using Inaccurate Models
Given access to accurate dynamical models, modern planning approaches ar...
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03/31/2020
TRON: A Fast Solver for Trajectory Optimization with Non-Smooth Cost Functions
Trajectory optimization is an important tool for control and planning of...
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03/31/2020
Exploration in Action Space
Parameter space exploration methods with black-box optimization have rec...
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03/09/2020
Planning and Execution using Inaccurate Models with Provable Guarantees
Models used in modern planning problems to simulate outcomes of real wor...
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10/27/2019
Task-Informed Fidelity Management for Speeding Up Robotics Simulation
Simulators are an important tool in robotics that is used to develop rob...
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10/21/2019
Planning, Learning and Reasoning Framework for Robot Truck Unloading
We consider the task of autonomously unloading boxes from trucks using a...
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05/27/2019
Provably Efficient Imitation Learning from Observation Alone
We study Imitation Learning (IL) from Observations alone (ILFO) in large...
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01/31/2019
Contrasting Exploration in Parameter and Action Space: A Zeroth-Order Optimization Perspective
Black-box optimizers that explore in parameter space have often been sho...
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10/12/2017