Model Error Propagation via Learned Contraction Metrics for Safe Feedback Motion Planning of Unknown Systems

18 April 2021

Papers citing "Model Error Propagation via Learned Contraction Metrics for Safe Feedback Motion Planning of Unknown Systems"

12 / 12 papers shown

Title
Generative Planning with Fast Collision Checks for High Speed Navigation Craig Knuth Cora Dimmig Brian A. Bittner 30 0 0 07 May 2024
Improving Out-of-Distribution Generalization of Learned Dynamics by Learning Pseudometrics and Constraint Manifolds Yating Lin Glen Chou Dmitry Berenson OODD 41 0 0 18 Mar 2024
Fighting Uncertainty with Gradients: Offline Reinforcement Learning via Diffusion Score Matching H. Suh Glen Chou Hongkai Dai Lujie Yang Abhishek Gupta Russ Tedrake DiffM OffRL 37 7 0 24 Jun 2023
Synthesizing Stable Reduced-Order Visuomotor Policies for Nonlinear Systems via Sums-of-Squares Optimization Glen Chou Russ Tedrake 22 2 0 24 Apr 2023
Statistical Safety and Robustness Guarantees for Feedback Motion Planning of Unknown Underactuated Stochastic Systems Craig Knuth Glen Chou Jamie Reese Joseph L. Moore 35 5 0 13 Dec 2022
Probably Approximately Correct Nonlinear Model Predictive Control (PAC-NMPC) A. Polevoy Marin Kobilarov Joseph L. Moore 16 1 0 14 Oct 2022
Probabilities Are Not Enough: Formal Controller Synthesis for Stochastic Dynamical Models with Epistemic Uncertainty Thom S. Badings Licio Romao Alessandro Abate N. Jansen 24 26 0 12 Oct 2022
QuaDUE-CCM: Interpretable Distributional Reinforcement Learning using Uncertain Contraction Metrics for Precise Quadrotor Trajectory Tracking Yanran Wang James O’Keeffe Qiuchen Qian David E. Boyle 33 8 0 15 Jul 2022
Safe Output Feedback Motion Planning from Images via Learned Perception Modules and Contraction Theory Glen Chou N. Ozay Dmitry Berenson 19 22 0 14 Jun 2022
Learning Model Preconditions for Planning with Multiple Models A. LaGrassa Oliver Kroemer 11 8 0 11 Jun 2022
Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models Zhongyu Li Jun Zeng A. Thirugnanam K. Sreenath 26 16 0 11 May 2022
Counterexample-Guided Repair for Symbolic-Geometric Action Abstractions Wil Thomason H. Kress-Gazit 21 0 0 13 May 2021