research
∙
06/24/2023
Fighting Uncertainty with Gradients: Offline Reinforcement Learning via Diffusion Score Matching
Offline optimization paradigms such as offline Reinforcement Learning (R...
share
research
∙
04/25/2023
Suboptimal Controller Synthesis for Cart-Poles and Quadrotors via Sums-of-Squares
Sums-of-squares (SOS) optimization is a promising tool to synthesize cer...
research
∙
02/23/2023
Certified Polyhedral Decompositions of Collision-Free Configuration Space
Understanding the geometry of collision-free configuration space (C-free...
research
∙
02/09/2023
AdaptSim: Task-Driven Simulation Adaptation for Sim-to-Real Transfer
Simulation parameter settings such as contact models and object geometry...
research
∙
10/02/2022
Convex synthesis and verification of control-Lyapunov and barrier functions with input constraints
Control Lyapunov functions (CLFs) and control barrier functions (CBFs) a...
research
∙
05/07/2022
Finding and Optimizing Certified, Collision-Free Regions in Configuration Space for Robot Manipulators
Configuration space (C-space) has played a central role in collision-fre...
research
∙
09/29/2021
Lyapunov-stable neural-network control
Deep learning has had a far reaching impact in robotics. Specifically, d...
research
∙
04/09/2019
Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization
Traditional motion planning approaches for multi-legged locomotion divid...
research
∙
09/17/2018
A Convex-Combinatorial Model for Planar Caging
Caging is a promising tool which allows a robot to manipulate an object ...
research
∙
12/19/2017
A Feasibility Metric for Trajectory Optimization of Legged Robots using Wrench Polytopes
Motion planning in multi-contact scenarios has recently gathered interes...
research
∙
12/07/2017