Safe Output Feedback Motion Planning from Images via Learned Perception Modules and Contraction Theory

14 June 2022

Papers citing "Safe Output Feedback Motion Planning from Images via Learned Perception Modules and Contraction Theory"

17 / 17 papers shown

Title
Learning Visuotactile Estimation and Control for Non-prehensile Manipulation under Occlusions Juan Del Aguila Ferrandis João Moura S. Vijayakumar 73 4 0 17 Dec 2024
Anytime Probabilistically Constrained Provably Convergent Online Belief Space Planning A. Zhitnikov Vadim Indelman 34 0 0 11 Nov 2024
CLOSURE: Fast Quantification of Pose Uncertainty Sets Yihuai Gao Yukai Tang Han Qi Heng Yang 27 5 0 15 Mar 2024
Perceive With Confidence: Statistical Safety Assurances for Navigation with Learning-Based Perception Anushri Dixit Zhiting Mei Meghan Booker Mariko Storey-Matsutani Mariko Storey-Matsutani Allen Z. Ren Ola Shorinwa Anirudha Majumdar 29 5 0 13 Mar 2024
Topology-Matching Normalizing Flows for Out-of-Distribution Detection in Robot Learning Jianxiang Feng Jongseok Lee Simon Geisler Stephan Gunnemann Rudolph Triebel OODD 26 4 0 11 Nov 2023
Learning-based Inverse Perception Contracts and Applications Dawei Sun B. C. Yang Sayan Mitra 15 4 0 24 Sep 2023
Closing the Loop on Runtime Monitors with Fallback-Safe MPC Rohan Sinha Edward Schmerling Marco Pavone 25 10 0 15 Sep 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 32 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
Safe Perception-Based Control under Stochastic Sensor Uncertainty using Conformal Prediction Shuo Yang George J. Pappas Rahul Mangharam Lars Lindemann 16 20 0 01 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
Towards Explainability in Modular Autonomous Vehicle Software Hongrui Zheng Zirui Zang Shuo Yang Rahul Mangharam 27 0 0 01 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 28 8 0 15 Jul 2022
Learning Robust Output Control Barrier Functions from Safe Expert Demonstrations Lars Lindemann Alexander Robey Lejun Jiang Satyajeet Das Stephen Tu Nikolai Matni 43 42 0 18 Nov 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
How to Train Your Differentiable Filter Alina Kloss Georg Martius Jeannette Bohg 36 46 0 28 Dec 2020
TEASER: Fast and Certifiable Point Cloud Registration Heng Yang J. Shi Luca Carlone 3DPC 127 657 0 21 Jan 2020