Related papers: Spline-Interpolated Model Predictive Path Integral…
The control of constrained systems using model predictive control (MPC) becomes more challenging when full state information is not available and when the nominal system model and measurements are corrupted by noise. Since these conditions…
In this paper, we present a novel guidance scheme based on model-based deep reinforcement learning (RL) technique. With model-based deep RL method, a deep neural network is trained as a predictive model of guidance dynamics which is…
Advancements in adapting deep convolution architectures for Spiking Neural Networks (SNNs) have significantly enhanced image classification performance and reduced computational burdens. However, the inability of Multiplication-Free…
In this paper, we propose algorithms for handling non-integer strides in sampling-frequency-independent (SFI) convolutional and transposed convolutional layers. The SFI layers have been developed for handling various sampling frequencies…
Memristor-based Spiking Neural Networks (SNNs) with temporal spike encoding enable ultra-low-energy computation, making them ideal for battery-powered intelligent devices. This paper presents a circuit-level memristive spiking neural…
We present a sampling-based model predictive control (MPC) framework that enables emergent locomotion without relying on handcrafted gait patterns or predefined contact sequences. Our method discovers diverse motion patterns, ranging from…
Robots deployed in dynamic environments must remain safe even when key physical parameters are uncertain or change over time. We propose Parameter-Robust Model Predictive Path Integral (PRMPPI) control, a framework that integrates online…
This work presents an efficient method to solve a class of continuous-time, continuous-space stochastic optimal control problems of robot motion in a cluttered environment. The method builds upon a path integral representation of the…
Silicon-photonic neural networks (SPNNs) have emerged as promising successors to electronic artificial intelligence (AI) accelerators by offering orders of magnitude lower latency and higher energy efficiency. Nevertheless, the underlying…
For uncertainty propagation of highly complex and/or nonlinear problems, one must resort to sample-based non-intrusive approaches [1]. In such cases, minimizing the number of function evaluations required to evaluate the response surface is…
Contact-rich manipulation is challenging due to its high dimensionality, the requirement for long time horizons, and the presence of hybrid contact dynamics. Sampling-based methods have become a popular approach for this class of problems,…
Joint utilization of multiple discrete frequency bands can enhance the accuracy of delay estimation. Although some unique challenges of multiband fusion, such as phase distortion, oscillation phenomena, and high-dimensional search, have…
Sampling-based model predictive controllers generate trajectories by sampling control inputs from a fixed, simple distribution such as the normal or uniform distributions. This sampling method yields trajectory samples that are tightly…
We introduce Permutation and Structured Perturbation Inference (PSPI), a new problem formulation that abstracts many graph matching tasks that arise in systems biology. PSPI can be viewed as a robust formulation of the permutation inference…
Iterative refinement methods based on a denoising-inversion cycle are powerful tools for enhancing the quality and control of diffusion models. However, their effectiveness is critically limited when combined with standard Classifier-Free…
Robust robot planning in dynamic, human-centric environments remains challenging due to multimodal uncertainty, the need for real-time adaptation, and safety requirements. Optimization-based planners enable explicit constraint handling but…
This paper presents a multirotor control architecture, where Model Predictive Path Integral Control (MPPI) and L1 adaptive control are combined to achieve both fast model predictive trajectory planning and robust trajectory tracking. MPPI…
Formulating the intended behavior of a dynamic system can be challenging. Signal temporal logic (STL) is frequently used for this purpose due to its suitability in formalizing comprehensible, modular, and versatile spatiotemporal…
The task of reconstructing smooth signals from streamed data in the form of signal samples arises in various applications. This work addresses such a task subject to a zero-delay response; that is, the smooth signal must be reconstructed…
We present a Stochastic Model Predictive Control (SMPC) framework for linear systems subject to Gaussian disturbances. In order to avoid feasibility issues, we employ a recent initialization strategy, optimizing over an interpolation of the…