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09/11/2023
Revisiting Energy Based Models as Policies: Ranking Noise Contrastive Estimation and Interpolating Energy Models
A crucial design decision for any robot learning pipeline is the choice ...
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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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02/02/2023
Mnemosyne: Learning to Train Transformers with Transformers
Training complex machine learning (ML) architectures requires a compute ...
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12/13/2022
Single-Level Differentiable Contact Simulation
We present a differentiable formulation of rigid-body contact dynamics f...
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10/19/2022
Robotic Table Wiping via Reinforcement Learning and Whole-body Trajectory Optimization
We propose a framework to enable multipurpose assistive mobile robots to...
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09/22/2022
Learning Model Predictive Controllers with Real-Time Attention for Real-World Navigation
Despite decades of research, existing navigation systems still face real...
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03/16/2022
Multiscale Sensor Fusion and Continuous Control with Neural CDEs
Though robot learning is often formulated in terms of discrete-time Mark...
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09/10/2021
Trajectory Optimization with Optimization-Based Dynamics
We present a framework for bi-level trajectory optimization in which a s...
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07/29/2019
Learning Stabilizable Nonlinear Dynamics with Contraction-Based Regularization
We propose a novel framework for learning stabilizable nonlinear dynamic...
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02/25/2019
Improving Robustness of Machine Translation with Synthetic Noise
Modern Machine Translation (MT) systems perform consistently well on cle...
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08/02/2018
Robust Tracking with Model Mismatch for Fast and Safe Planning: an SOS Optimization Approach
In the pursuit of real-time motion planning, a commonly adopted practice...
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07/31/2018
Learning Stabilizable Dynamical Systems via Control Contraction Metrics
We propose a novel framework for learning stabilizable nonlinear dynamic...
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11/28/2017