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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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03/15/2023
Stochastic Interpolants: A Unifying Framework for Flows and Diffusions
We introduce a class of generative models based on the stochastic interp...
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06/09/2022
Probability flow solution of the Fokker-Planck equation
The method of choice for integrating the time-dependent Fokker-Planck eq...
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12/20/2021
Adversarially Robust Stability Certificates can be Sample-Efficient
Motivated by bridging the simulation to reality gap in the context of sa...
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06/07/2021
Random features for adaptive nonlinear control and prediction
A key assumption in the theory of adaptive control for nonlinear systems...
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11/26/2020
Regret Bounds for Adaptive Nonlinear Control
We study the problem of adaptively controlling a known discrete-time non...
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08/13/2020
Learning Stability Certificates from Data
Many existing tools in nonlinear control theory for establishing stabili...
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06/15/2020
The Reflectron: Exploiting geometry for learning generalized linear models
Generalized linear models (GLMs) extend linear regression by generating ...
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12/31/2019
Higher-order algorithms for nonlinearly parameterized adaptive control
A set of new adaptive control algorithms is presented. The algorithms ar...
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12/28/2018