Related papers: A Stochastic Optimal Control Model with Internal F…
In this paper, we present a novel cascade control structure with formal guarantees of uniform almost global asymptotic stability for the state tracking error dynamics of a quadcopter. The proposed approach features a model predictive…
Robot navigation around humans can be a challenging problem since human movements are hard to predict. Stochastic model predictive control (MPC) can account for such uncertainties and approximately bound the probability of a collision to…
Robust control of complex engineered and biological systems hinges on the integration of feedforward and feedback mechanisms. This is exemplified in neural motor control, where feedforward muscle co-contraction complements sensory-driven…
We study the problem of optimal oculomotor control during the execution of visual search tasks. We introduce a computational model of human eye movements, which takes into account various constraints of the human visual and oculomotor…
How people look at visual information reveals fundamental information about themselves, their interests and their state of mind. While previous visual attention models output static 2-dimensional saliency maps, saccadic models aim to…
This paper presents a continuous-time optimal control framework for the generation of reference trajectories in driving scenarios with uncertainty. A previous work presented a discrete-time stochastic generator for autonomous vehicles;…
Optimal control of stochastic nonlinear dynamical systems is a major challenge in the domain of robot learning. Given the intractability of the global control problem, state-of-the-art algorithms focus on approximate sequential optimization…
Achieving optimality in controlling physical systems is a profound challenge across diverse scientific and engineering fields, spanning neuromechanics, biochemistry, autonomous systems, economics, and beyond. Traditional solutions, relying…
Over the last few years, sampling-based stochastic optimal control (SOC) frameworks have shown impressive performances in reinforcement learning (RL) with applications in robotics. However, such approaches require a large amount of samples…
Eye movements hold information about human perception, intention, and cognitive state. We propose a novel eye movement simulator that i) probabilistically simulates saccade movements as gamma distributions considering different peak…
This paper presents a novel methodology to tackle feedback optimal control problems in scenarios where the exact state of the controlled process is unknown. It integrates data assimilation techniques and optimal control solvers to manage…
Model Predictive Control (MPC) has established itself as the primary methodology for constrained control, enabling autonomy across diverse applications. While model fidelity is crucial in MPC, solving the corresponding optimization problem…
Saccades are extremely rapid movements of both eyes that occur simultaneously, typically observed when an individual shifts their focus from one object to another. These movements are among the swiftest produced by humans and possess the…
The posterior parietal cortex is believed to direct eye movements, especially in regards to target tracking tasks, and a number of debates exist over the precise nature of the computations performed by the parietal cortex, with each side…
A new formulation of Stochastic Model Predictive Output Feedback Control is presented and analyzed as a translation of Stochastic Optimal Output Feedback Control into a receding horizon setting. This requires lifting the design into a…
The goal of this paper is to solve a class of stochastic optimal control problems numerically, in which the state process is governed by an It\^o type stochastic differential equation with control process entering both in the drift and the…
Understanding the decision process underlying gaze control is an important question in cognitive neuroscience with applications in diverse fields ranging from psychology to computer vision. The decision for choosing an upcoming saccade…
Eye movements hold information about human perception, intention and cognitive state. Various algorithms have been proposed to identify and distinguish eye movements, particularly fixations, saccades, and smooth pursuits. A major drawback…
Eye tracking has been found to be useful in various tasks including diagnostic and screening tools. However, traditional eye trackers had a complicated setup and operated at a higher frequency to measure eye movements. The use of more…
Human eye-hand coordination relies on internal forward models that predict future states and compensate for sensory delays. During line tracing, the gaze typically leads the hand through predictive saccades, yet the extent to which this…