Hongkai Dai | DeepAI

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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...

0 H. J. Terry Suh, et al. ∙

∙ 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...

0 Lujie Yang, et al. ∙

∙ 02/23/2023

Certified Polyhedral Decompositions of Collision-Free Configuration Space

Understanding the geometry of collision-free configuration space (C-free...

0 Hongkai Dai, et al. ∙

∙ 02/09/2023

AdaptSim: Task-Driven Simulation Adaptation for Sim-to-Real Transfer

Simulation parameter settings such as contact models and object geometry...

0 Allen Z. Ren, et al. ∙

∙ 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...

0 Hongkai Dai, et al. ∙

∙ 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...

0 Alexandre Amice, et al. ∙

∙ 09/29/2021

Lyapunov-stable neural-network control

Deep learning has had a far reaching impact in robotics. Specifically, d...

0 Hongkai Dai, et al. ∙

∙ 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...

0 Bernardo Aceituno-Cabezas, et al. ∙

∙ 09/17/2018

A Convex-Combinatorial Model for Planar Caging

Caging is a promising tool which allows a robot to manipulate an object ...

0 Bernardo Aceituno-Cabezas, et al. ∙

∙ 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...

0 Romeo Orsolino, et al. ∙

∙ 12/07/2017

The Actuation-consistent Wrench Polytope (AWP) and the Feasible Wrench Polytope (FWP)

The motivation of our current research is to devise motion planners for ...

0 Romeo Orsolino, et al. ∙

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