Planning with Learned Dynamics: Probabilistic Guarantees on Safety and Reachability via Lipschitz Constants

18 October 2020

Papers citing "Planning with Learned Dynamics: Probabilistic Guarantees on Safety and Reachability via Lipschitz Constants"

20 / 20 papers shown

Title
Q-Distribution guided Q-learning for offline reinforcement learning: Uncertainty penalized Q-value via consistency model Jing Zhang Linjiajie Fang Kexin Shi Wenjia Wang Bing-Yi Jing OffRL 36 0 0 27 Oct 2024
Quantifying Aleatoric and Epistemic Dynamics Uncertainty via Local Conformal Calibration Luís Marques Dmitry Berenson 23 0 0 12 Sep 2024
Data-driven Construction of Finite Abstractions for Interconnected Systems: A Compositional Approach Daniel Ajeleye Majid Zamani AI4CE 14 2 0 16 Aug 2024
Generative Planning with Fast Collision Checks for High Speed Navigation Craig Knuth Cora Dimmig Brian A. Bittner 17 0 0 07 May 2024
$Robust Model Based Reinforcement Learning Using $\mathcal{L}_1$ Adaptive Control$ Robust Model Based Reinforcement Learning Using $\mathcal{L}_1$ Adaptive Control Minjun Sung Sambhu H. Karumanchi Aditya Gahlawat N. Hovakimyan 20 1 0 21 Mar 2024
POLICEd RL: Learning Closed-Loop Robot Control Policies with Provable Satisfaction of Hard Constraints Jean-Baptiste Bouvier Kartik Nagpal Negar Mehr 39 3 0 20 Mar 2024
Improving Out-of-Distribution Generalization of Learned Dynamics by Learning Pseudometrics and Constraint Manifolds Yating Lin Glen Chou Dmitry Berenson OODD 33 0 0 18 Mar 2024
Online Adaptation of Sampling-Based Motion Planning with Inaccurate Models M. Faroni Dmitry Berenson TTA OffRL 26 0 0 12 Mar 2024
Promises of Deep Kernel Learning for Control Synthesis Robert Reed Luca Laurenti Morteza Lahijanian BDL 17 5 0 12 Sep 2023
How Safe Am I Given What I See? Calibrated Prediction of Safety Chances for Image-Controlled Autonomy Zhenjiang Mao Carson Sobolewski I. Ruchkin 29 8 0 23 Aug 2023
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 20 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
Probabilities Are Not Enough: Formal Controller Synthesis for Stochastic Dynamical Models with Epistemic Uncertainty Thom S. Badings Licio Romao Alessandro Abate N. Jansen 19 26 0 12 Oct 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
Certifiable Robot Design Optimization using Differentiable Programming Charles Dawson Chuchu Fan 23 7 0 22 Apr 2022
Formal Verification of Unknown Dynamical Systems via Gaussian Process Regression John Jackson Luca Laurenti Eric Frew Morteza Lahijanian 8 16 0 31 Dec 2021
Learning Contraction Policies from Offline Data Navid Rezazadeh Maxwell Kolarich Solmaz S. Kia Negar Mehr OffRL 14 7 0 11 Dec 2021
Model Error Propagation via Learned Contraction Metrics for Safe Feedback Motion Planning of Unknown Systems Glen Chou N. Ozay Dmitry Berenson 24 25 0 18 Apr 2021