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Neural Contraction Metrics for Robust Estimation and Control: A Convex Optimization Approach

8 June 2020

Papers citing "Neural Contraction Metrics for Robust Estimation and Control: A Convex Optimization Approach"

24 / 24 papers shown

Title
Contraction Actor-Critic: Contraction Metric-Guided Reinforcement Learning for Robust Path Tracking Minjae Cho Hiroyasu Tsukamoto Huy Trong Tran 12 0 0 28 May 2025
Diffeomorphic Obstacle Avoidance for Contractive Dynamical Systems via Implicit Representations Ken-Joel Simmoteit Philipp Schillinger Leonel Rozo 64 0 0 26 Apr 2025
Neural Contraction Metrics with Formal Guarantees for Discrete-Time Nonlinear Dynamical Systems H. Li Xiangru Zhong Bin Hu Huan Zhang 64 0 0 23 Apr 2025
Meta-Learning Augmented MPC for Disturbance-Aware Motion Planning and Control of Quadrotors Dzenan Lapandic Fengze Xie Christos K. Verginis Soon-Jo Chung Dimos V. Dimarogonas B. Wahlberg 53 1 0 08 Oct 2024
Neural Contractive Dynamical Systems Hadi Beik-Mohammadi Søren Hauberg Georgios Arvanitidis Nadia Figueroa Gerhard Neumann Leonel Rozo 92 8 0 17 Jan 2024
Efficient Deep Learning of Robust Policies from MPC using Imitation and Tube-Guided Data Augmentation Andrea Tagliabue Jonathan P. How 75 9 0 01 Jun 2023
On the Optimality, Stability, and Feasibility of Control Barrier Functions: An Adaptive Learning-Based Approach A. Chriat Chuangchuang Sun 81 4 0 05 May 2023
Statistical Safety and Robustness Guarantees for Feedback Motion Planning of Unknown Underactuated Stochastic Systems Craig Knuth Glen Chou Jamie Reese Joseph L. Moore 72 5 0 13 Dec 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 83 9 0 15 Jul 2022
Safe Output Feedback Motion Planning from Images via Learned Perception Modules and Contraction Theory Glen Chou N. Ozay Dmitry Berenson 90 22 0 14 Jun 2022
Gaussian Control Barrier Functions : A Non-Parametric Paradigm to Safety Mouhyemen Khan Tatsuya Ibuki Abhijit Chatterjee 74 13 0 29 Mar 2022
Safe Control with Learned Certificates: A Survey of Neural Lyapunov, Barrier, and Contraction methods Charles Dawson Sicun Gao Chuchu Fan 78 243 0 23 Feb 2022
Joint Differentiable Optimization and Verification for Certified Reinforcement Learning Yixuan Wang S. Zhan Zhilu Wang Chao Huang Zhaoran Wang Zhuoran Yang Qi Zhu 56 23 0 28 Jan 2022
SABLAS: Learning Safe Control for Black-box Dynamical Systems Zengyi Qin Dawei Sun Chuchu Fan 87 43 0 06 Jan 2022
A Theoretical Overview of Neural Contraction Metrics for Learning-based Control with Guaranteed Stability Hiroyasu Tsukamoto Soon-Jo Chung Jean-Jacques E. Slotine Chuchu Fan 55 11 0 02 Oct 2021
Demonstration-Efficient Guided Policy Search via Imitation of Robust Tube MPC Andrea Tagliabue Dong-Ki Kim M. Everett Jonathan P. How 127 22 0 21 Sep 2021
Safe Nonlinear Control Using Robust Neural Lyapunov-Barrier Functions Charles Dawson Zengyi Qin Sicun Gao Chuchu Fan 159 176 0 14 Sep 2021
Model Error Propagation via Learned Contraction Metrics for Safe Feedback Motion Planning of Unknown Systems Glen Chou N. Ozay Dmitry Berenson 100 25 0 18 Apr 2021
Learning-based Adaptive Control using Contraction Theory Hiroyasu Tsukamoto Soon-Jo Chung Jean-Jacques E. Slotine 56 12 0 04 Mar 2021
Learning-based Robust Motion Planning with Guaranteed Stability: A Contraction Theory Approach Hiroyasu Tsukamoto Soon-Jo Chung OOD 82 34 0 25 Feb 2021
Scalable and Safe Multi-Agent Motion Planning with Nonlinear Dynamics and Bounded Disturbances Jingkai Chen Jiaoyang Li Chuchu Fan B. Williams 52 34 0 16 Dec 2020
Learning Certified Control using Contraction Metric Dawei Sun Susmit Jha Chuchu Fan 71 77 0 25 Nov 2020
Neural Stochastic Contraction Metrics for Learning-based Control and Estimation Hiroyasu Tsukamoto Soon-Jo Chung Jean-Jacques E. Slotine 46 0 0 06 Nov 2020
Robust Controller Design for Stochastic Nonlinear Systems via Convex Optimization Hiroyasu Tsukamoto Soon-Jo Chung 85 43 0 08 Jun 2020