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09/24/2021
Improving Model Predictive Path Integral using Covariance Steering
This paper presents a novel control approach for autonomous systems oper...
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06/04/2021
Robustifying Reinforcement Learning Policies with ℒ_1 Adaptive Control
A reinforcement learning (RL) policy trained in a nominal environment co...
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03/04/2021
Exploring the representativeness of the M5 competition data
The main objective of the M5 competition, which focused on forecasting t...
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09/11/2020
Autonomous Hybrid Ground/Aerial Mobility in Unknown Environments
Hybrid ground and aerial vehicles can possess distinct advantages over g...
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09/08/2020
ℛℒ_1-𝒢𝒫: Safe Simultaneous Learning and Control
We present ℛℒ_1-𝒢𝒫, a control framework that enables safe simultaneous l...
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06/22/2020
Forward-Backward RRT: Branched Sampled FBSDEs for Stochastic Optimal Control
We propose a numerical method to solve forward-backward stochastic diffe...
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06/25/2018
Propagating Uncertainty through the tanh Function with Application to Reservoir Computing
Many neural networks use the tanh activation function, however when give...
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06/12/2018
Model-Based Imitation Learning with Accelerated Convergence
Sample efficiency is critical in solving real-world reinforcement learni...
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03/27/2018
Safe end-to-end imitation learning for model predictive control
We propose the use of Bayesian networks, which provide both a mean value...
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03/03/2018
Model-Based Stochastic Search for Large Scale Optimization of Multi-Agent UAV Swarms
Recent work from the reinforcement learning community has shown that Evo...
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02/15/2018