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06/27/2023
Trajectory Generation, Control, and Safety with Denoising Diffusion Probabilistic Models
We present a framework for safety-critical optimal control of physical s...
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01/30/2023
Passivizing learned policies and learning passive policies with virtual energy tanks in robotics
Within a robotic context, we merge the techniques of passivity-based con...
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12/29/2022
Discovering Efficient Periodic Behaviours in Mechanical Systems via Neural Approximators
It is well known that conservative mechanical systems exhibit local osci...
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01/14/2021
Optimal Energy Shaping via Neural Approximators
We introduce optimal energy shaping as an enhancement of classical passi...
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09/06/2019