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Diffusion probabilistic models (DPMs) have demonstrated a very promising ability in high-resolution image synthesis. However, sampling from a pre-trained DPM is time-consuming due to the multiple evaluations of the denoising network, making…
We propose a stochastic model predictive control (MPC) framework for linear systems subject to joint-in-time chance constraints under unknown disturbance distributions. Unlike existing approaches that rely on parametric or Gaussian…
Capturing multimodal natures is essential for stochastic pedestrian trajectory prediction, to infer a finite set of future trajectories. The inferred trajectories are based on observation paths and the latent vectors of potential decisions…
Although many successful ensemble clustering approaches have been developed in recent years, there are still two limitations to most of the existing approaches. First, they mostly overlook the issue of uncertain links, which may mislead the…
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,…
Imitation Learning offers a promising approach to learn directly from data without requiring explicit models, simulations, or detailed task definitions. During inference, actions are sampled from the learned distribution and executed on the…
Compressed sensing theory indicates that selecting a few measurements independently at random is a near optimal strategy to sense sparse or compressible signals. This is infeasible in practice for many acquisition devices that acquire…
Model Predictive Path Integral control is a powerful sampling-based approach suitable for complex robotic tasks due to its flexibility in handling nonlinear dynamics and non-convex costs. However, its applicability in real-time,…
Recent deep network-based compressive sensing (CS) methods have achieved great success. However, most of them regard different sampling matrices as different independent tasks and need to train a specific model for each target sampling…
Trajectory-controlled human motion generation aims to synthesize realistic human motions conditioned on both textual descriptions and spatial trajectories. However, existing methods suffer from two critical limitations: first, the conflict…
Sampling-based Model Predictive Control (MPC) is a flexible control framework that can reason about non-smooth dynamics and cost functions. Recently, significant work has focused on the use of machine learning to improve the performance of…
We present a framework for safety-critical optimal control of physical systems based on denoising diffusion probabilistic models (DDPMs). The technology of control barrier functions (CBFs), encoding desired safety constraints, is used in…
Hybrid Monte Carlo (HMC) generates samples from a prescribed probability distribution in a configuration space by simulating Hamiltonian dynamics, followed by the Metropolis (-Hastings) acceptance/rejection step. Compressible HMC (CHMC)…
Model predictive control (MPC) provides a useful means for controlling systems with constraints, but suffers from the computational burden of repeatedly solving an optimization problem in real time. Offline (explicit) solutions for MPC…
Vehicle platooning has been shown to be quite fruitful in the transportation industry to enhance fuel economy, road throughput, and driving comfort. Model Predictive Control (MPC) is widely used in literature for platoon control to achieve…
The problem of sampling constrained continuous distributions has frequently appeared in many machine/statistical learning models. Many Monte Carlo Markov Chain (MCMC) sampling methods have been adapted to handle different types of…
Hamiltonian Monte Carlo (HMC) is a premier Markov Chain Monte Carlo (MCMC) algorithm for continuous target distributions. Its full potential can only be unleashed when its problem-dependent hyperparameters are tuned well. The adaptation of…
In Model Predictive Control (MPC) formulations of trajectory tracking problems, infeasible reference trajectories and a-priori unknown constraints can lead to cumbersome designs, aggressive tracking, and loss of recursive feasibility. This…
This paper investigates adaptive model predictive control (MPC) for a class of constrained linear systems with unknown model parameters. This is also posed as the dual control problem consisting of system identification and regulation. We…
Model Predictive Path Integral (MPPI) control, Reinforcement Learning (RL), and Diffusion Models have each demonstrated strong performance in trajectory optimization, decision-making, and motion planning. However, these approaches have…