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06/24/2023
Fighting Uncertainty with Gradients: Offline Reinforcement Learning via Diffusion Score Matching
Offline optimization paradigms such as offline Reinforcement Learning (R...
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04/24/2023
Synthesizing Stable Reduced-Order Visuomotor Policies for Nonlinear Systems via Sums-of-Squares Optimization
We present a method for synthesizing dynamic, reduced-order output-feedb...
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03/09/2023
Data-Efficient Learning of Natural Language to Linear Temporal Logic Translators for Robot Task Specification
To make robots accessible to a broad audience, it is critical to endow t...
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12/13/2022
Statistical Safety and Robustness Guarantees for Feedback Motion Planning of Unknown Underactuated Stochastic Systems
We present a method for providing statistical guarantees on runtime safe...
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06/14/2022
Safe Output Feedback Motion Planning from Images via Learned Perception Modules and Contraction Theory
We present a motion planning algorithm for a class of uncertain control-...
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12/08/2021
Gaussian Process Constraint Learning for Scalable Chance-Constrained Motion Planning from Demonstrations
We propose a method for learning constraints represented as Gaussian pro...
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04/18/2021
Model Error Propagation via Learned Contraction Metrics for Safe Feedback Motion Planning of Unknown Systems
We present a method for contraction-based feedback motion planning of lo...
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11/09/2020
Uncertainty-Aware Constraint Learning for Adaptive Safe Motion Planning from Demonstrations
We present a method for learning to satisfy uncertain constraints from d...
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10/18/2020
Planning with Learned Dynamics: Guaranteed Safety and Reachability via Lipschitz Constants
We present an approach for feedback motion planning of systems with unkn...
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06/03/2020
Explaining Multi-stage Tasks by Learning Temporal Logic Formulas from Suboptimal Demonstrations
We present a method for learning multi-stage tasks from demonstrations b...
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05/11/2020
Inferring Obstacles and Path Validity from Visibility-Constrained Demonstrations
Many methods in learning from demonstration assume that the demonstrator...
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01/25/2020
Learning Constraints from Locally-Optimal Demonstrations under Cost Function Uncertainty
We present an algorithm for learning parametric constraints from locally...
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10/08/2019
Learning Parametric Constraints in High Dimensions from Demonstrations
We present a scalable algorithm for learning parametric constraints in h...
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12/17/2018
Learning Constraints from Demonstrations
We extend the learning from demonstration paradigm by providing a method...
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07/25/2018