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06/28/2023
Avoidance of Concave Obstacles through Rotation of Nonlinear Dynamics
Controlling complex tasks in robotic systems, such as circular motion fo...
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06/15/2023
MinMax Networks
While much progress has been achieved over the last decades in neuro-ins...
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06/14/2023
Agile Catching with Whole-Body MPC and Blackbox Policy Learning
We address a benchmark task in agile robotics: catching objects thrown a...
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06/08/2023
Scaling Spherical CNNs
Spherical CNNs generalize CNNs to functions on the sphere, by using sphe...
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02/06/2023
Learning Control-Oriented Dynamical Structure from Data
Even for known nonlinear dynamical systems, feedback controller synthesi...
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10/26/2022
From Obstacle Avoidance To Motion Learning Using Local Rotation of Dynamical Systems
In robotics motion is often described from an external perspective, i.e....
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09/15/2022
Stability Guarantees for Continuous RL Control
Lack of stability guarantees strongly limits the use of reinforcement le...
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07/28/2022
Unmatched Control Barrier Functions: Certainty Equivalence Adaptive Safety
This work applies universal adaptive control to control barrier function...
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05/10/2022
Fast Obstacle Avoidance Based on Real-Time Sensing
Humans are remarkable at navigating and moving through dynamic and compl...
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04/14/2022
Control-oriented meta-learning
Real-time adaptation is imperative to the control of robots operating in...
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01/17/2022
Generalization in Supervised Learning Through Riemannian Contraction
We prove that Riemannian contraction in a supervised learning setting im...
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10/02/2021
A Theoretical Overview of Neural Contraction Metrics for Learning-based Control with Guaranteed Stability
This paper presents a theoretical overview of a Neural Contraction Metri...
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10/01/2021
Contraction Theory for Nonlinear Stability Analysis and Learning-based Control: A Tutorial Overview
Contraction theory is an analytical tool to study differential dynamics ...
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06/16/2021
Recursive Construction of Stable Assemblies of Recurrent Neural Networks
Advanced applications of modern machine learning will likely involve com...
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05/25/2021
Avoiding Dense and Dynamic Obstacles in Enclosed Spaces: Application to Moving in Crowds
This paper presents a closed-form approach to constrain a flow within a ...
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03/10/2021
Dynamical Pose Estimation
We study the problem of aligning two sets of 3D geometric primitives giv...
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03/04/2021
Learning-based Adaptive Control via Contraction Theory
We present a new deep learning-based adaptive control framework for nonl...
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06/19/2020
An Ode to an ODE
We present a new paradigm for Neural ODE algorithms, calledODEtoODE, whe...
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05/05/2020
Time Dependence in Non-Autonomous Neural ODEs
Neural Ordinary Differential Equations (ODEs) are elegant reinterpretati...
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11/12/2019
Numerical and experimental realization of analytical SLAM
Analytical approach to SLAM problem was introduced in the recent years. ...
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04/25/2018
Notes on stable learning with piecewise-linear basis functions
We discuss technical results on learning function approximations using p...
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09/06/2012
Multiclass Learning with Simplex Coding
In this paper we discuss a novel framework for multiclass learning, defi...
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01/13/2012
Competition through selective inhibitory synchrony
Models of cortical neuronal circuits commonly depend on inhibitory feedb...
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05/16/2011
Collective stability of networks of winner-take-all circuits
The neocortex has a remarkably uniform neuronal organization, suggesting...
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10/21/2010
Synchronization and Redundancy: Implications for Robustness of Neural Learning and Decision Making
Learning and decision making in the brain are key processes critical to ...
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09/25/2008
Audio Classification from Time-Frequency Texture
Time-frequency representations of audio signals often resemble texture i...
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07/18/2008
Visual Grouping by Neural Oscillators
Distributed synchronization is known to occur at several scales in the b...
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06/08/2008