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06/16/2023
CAJun: Continuous Adaptive Jumping using a Learned Centroidal Controller
We present CAJun, a novel hierarchical learning and control framework th...
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06/15/2023
Optimal Exploration for Model-Based RL in Nonlinear Systems
Learning to control unknown nonlinear dynamical systems is a fundamental...
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06/15/2023
Active Representation Learning for General Task Space with Applications in Robotics
Representation learning based on multi-task pretraining has become a pow...
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05/13/2022
Neural-Fly Enables Rapid Learning for Agile Flight in Strong Winds
Executing safe and precise flight maneuvers in dynamic high-speed winds ...
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10/29/2021
Online Optimization with Feedback Delay and Nonlinear Switching Cost
We study a variant of online optimization in which the learner receives ...
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06/11/2021
Meta-Adaptive Nonlinear Control: Theory and Algorithms
We present an online multi-task learning approach for adaptive nonlinear...
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03/02/2021
Meta-Learning-Based Robust Adaptive Flight Control Under Uncertain Wind Conditions
Realtime model learning proves challenging for complex dynamical systems...
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12/10/2020
Neural-Swarm2: Planning and Control of Heterogeneous Multirotor Swarms using Learned Interactions
We present Neural-Swarm2, a learning-based method for motion planning an...
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11/16/2020
Fast Uncertainty Quantification for Deep Object Pose Estimation
Deep learning-based object pose estimators are often unreliable and over...
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05/09/2020
Chance-Constrained Trajectory Optimization for Safe Exploration and Learning of Nonlinear Systems
Learning-based control algorithms require collection of abundant supervi...
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03/06/2020
Neural-Swarm: Decentralized Close-Proximity Multirotor Control Using Learned Interactions
In this paper, we present Neural-Swarm, a nonlinear decentralized stable...
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02/13/2020
Beyond No-Regret: Competitive Control via Online Optimization with Memory
This paper studies online control with adversarial disturbances using to...
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06/13/2019
Robust Regression for Safe Exploration in Control
We study the problem of safe learning and exploration in sequential cont...
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11/19/2018