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Found 8 papers, 2 papers with code
Convex Hulls of Reachable Sets
We study the convex hulls of reachable sets of nonlinear systems with bounded disturbances and uncertain initial conditions.
A System-Level View on Out-of-Distribution Data in Robotics
When testing conditions differ from those represented in training data, so-called out-of-distribution (OOD) inputs can mar the reliability of learned components in the modern robot autonomy stack.
Robotic Table Wiping via Reinforcement Learning and Whole-body Trajectory Optimization
This problem is challenging, as it requires planning wiping actions while reasoning over uncertain latent dynamics of crumbs and spills captured via high-dimensional visual observations.
Data-Driven Chance Constrained Control using Kernel Distribution Embeddings
We present a data-driven algorithm for efficiently computing stochastic control policies for general joint chance constrained optimal control problems.
A Simple and Efficient Sampling-based Algorithm for General Reachability Analysis
In this work, we analyze an efficient sampling-based algorithm for general-purpose reachability analysis, which remains a notoriously challenging problem with applications ranging from neural network verification to safety analysis of dynamical systems.
On the Problem of Reformulating Systems with Uncertain Dynamics as a Stochastic Differential Equation
We identify an issue in recent approaches to learning-based control that reformulate systems with uncertain dynamics using a stochastic differential equation.
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARPA Subterranean Challenge.
Safe Active Dynamics Learning and Control: A Sequential Exploration-Exploitation Framework
In this work, we propose a practical and theoretically-justified approach to maintaining safety in the presence of dynamics uncertainty.
