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11/02/2022
Over-communicate no more: Situated RL agents learn concise communication protocols
While it is known that communication facilitates cooperation in multi-ag...
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10/28/2022
A Game Benchmark for Real-Time Human-Swarm Control
We present a game benchmark for testing human-swarm control algorithms a...
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06/25/2021
Active Learning in Robotics: A Review of Control Principles
Active learning is a decision-making process. In both abstract and physi...
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01/03/2021
Low rattling: A predictive principle for self-organization in active collectives
Self-organization is frequently observed in active collectives, from ant...
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12/09/2020
Dynamical System Segmentation for Information Measures in Motion
Motions carry information about the underlying task being executed. Prev...
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11/30/2020
Learning from Incremental Directional Corrections
This paper proposes a technique which enables a robot to learn a control...
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10/22/2020
Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion
We present a sim-to-real framework that uses dynamics and domain randomi...
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10/12/2020
Derivative-Based Koopman Operators for Real-Time Control of Robotic Systems
This paper presents a methodology for linear embedding of nonlinear syst...
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08/05/2020
Learning from Sparse Demonstrations
This paper proposes an approach which enables a robot to learn an object...
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07/17/2020
Information Requirements of Collision-Based Micromanipulation
We present a task-centered formal analysis of the relative power of seve...
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06/12/2020
Algorithmic Design for Embodied Intelligence in Synthetic Cells
In nature, biological organisms jointly evolve both their morphology and...
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06/05/2020
Hybrid Control for Learning Motor Skills
We develop a hybrid control approach for robot learning based on combini...
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06/05/2020
An Ergodic Measure for Active Learning From Equilibrium
This paper develops KL-Ergodic Exploration from Equilibrium (KL-E^3), a ...
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06/04/2020
Model-Based Generalization Under Parameter Uncertainty Using Path Integral Control
This work addresses the problem of robot interaction in complex environm...
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05/08/2020
Learning Data-Driven Stable Koopman Operators
In this paper, we consider the problem of improving the long-term accura...
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06/12/2019
Active Learning of Dynamics for Data-Driven Control Using Koopman Operators
This paper presents an active learning strategy for robotic systems that...
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02/08/2019
Active Area Coverage from Equilibrium
This paper develops a method for robots to integrate stability into acti...
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06/13/2018
Decentralized Ergodic Control: Distribution-Driven Sensing and Exploration for Multi-Agent Systems
We present a decentralized ergodic control policy for time-varying area ...
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06/06/2018
Online User Assessment for Minimal Intervention During Task-Based Robotic Assistance
We propose a novel criterion for evaluating user input for human-robot i...
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05/31/2018
Data-Driven Measurement Models for Active Localization in Sparse Environments
We develop an algorithm to explore an environment to generate a measurem...
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04/24/2018