L4DC 2020 Conference Submissions

Uncertain multi-agent MILPs: A data-driven decentralized solution with probabilistic feasibility guarantees
Alessandro Falsone, Federico Molinari, Maria Prandini
- 08 Jun 2020 (modified: 05 May 2023)
- L4DC 2020
- Readers: Everyone
Improving Input-Output Linearizing Controllers for Bipedal Robots via Reinforcement Learning
Fernando Castañeda, Mathias Wulfman, Ayush Agrawal, Tyler Westenbroek, Shankar Sastry, Claire Tomlin, Koushil Sreenath
- 08 Jun 2020 (modified: 05 May 2023)
- L4DC 2020
- Readers: Everyone
Safe non-smooth black-box optimization with application to policy search
Ilnura Usmanova, Andreas Krause, Maryam Kamgarpour
- 08 Jun 2020 (modified: 05 May 2023)
- L4DC 2020
- Readers: Everyone
Keyframing the Future: Keyframe Discovery for Visual Prediction and Planning
Karl Pertsch, Oleh Rybkin, Jingyun Yang, Konstantinos Derpanis, Kostas Daniilidis, Joseph Lim, Andrew Jaegle
- 08 Jun 2020 (modified: 05 May 2023)
- L4DC 2020
- Readers: Everyone
Improving Robustness via Risk Averse Distributional Reinforcement Learning
Rahul Singh, Qinsheng Zhang, Yongxin Chen
- 08 Jun 2020 (modified: 05 May 2023)
- L4DC 2020
- Readers: Everyone
Policy Learning of MDPs with Mixed Continuous/Discrete Variables: A Case Study on Model-Free Control of Markovian Jump Systems
Joao Paulo Jansch-Porto, Bin Hu, Geir Dullerud
- 08 Jun 2020 (modified: 05 May 2023)
- L4DC 2020
- Readers: Everyone
Plan2Vec: Unsupervised Representation Learning by Latent Plans
Ge Yang, Amy Zhang, Ari Morcos, Joelle Pineau, Pieter Abbeel, Roberto Calandra
- 08 Jun 2020 (modified: 12 Mar 2024)
- L4DC 2020
- Readers: Everyone
Efficient Large-Scale Gaussian Process Bandits by Believing only Informative Actions
Amrit Singh Bedi, Dheeraj Peddireddy, Vaneet Aggarwal, Alec Koppel
- 08 Jun 2020 (modified: 05 May 2023)
- L4DC 2020
- Readers: Everyone
A Kernel Mean Embedding Approach to Reducing Conservativeness in Stochastic Programming and Control
Jia-Jie Zhu, Bernhard Schoelkopf, Moritz Diehl
- 08 Jun 2020 (modified: 05 May 2023)
- L4DC 2020
- Readers: Everyone
Hierarchical Decomposition of Nonlinear Dynamics and Control for System Identification and Policy Distillation
Hany Abdulsamad, Jan Peters
- 08 Jun 2020 (modified: 12 Mar 2024)
- L4DC 2020
- Readers: Everyone
Dual Stochastic MPC for Systems with Parametric and Structural Uncertainty
Elena Arcari, Lukas Hewing, Max Schlichting, Melanie Zeilinger
- 08 Jun 2020 (modified: 05 May 2023)
- L4DC 2020
- Readers: Everyone
Robust Deep Learning as Optimal Control: Insights and Convergence Guarantees
Jacob H. Seidman, Mahyar Fazlyab, Victor M. Preciado, George J. Pappas
- 08 Jun 2020 (modified: 05 May 2023)
- L4DC 2020
- Readers: Everyone
A Duality Approach for Regret Minimization in Average-Award Ergodic Markov Decision Processes
Hao Gong, Mengdi Wang
- 08 Jun 2020 (modified: 05 May 2023)
- L4DC 2020
- Readers: Everyone
Learning nonlinear dynamical systems from a single trajectory
Dylan Foster, Tuhin Sarkar, Alexander Rakhlin
- 08 Jun 2020 (modified: 05 May 2023)
- L4DC 2020
- Readers: Everyone
Information Theoretic Model Predictive Q-Learning
Mohak Bhardwaj, Ankur Handa, Dieter Fox, Byron Boots
- 08 Jun 2020 (modified: 05 May 2023)
- L4DC 2020
- Readers: Everyone
Data-Driven Distributed Predictive Control via Network Optimization
Ahmed Allibhoy, Jorge Cortes
- 08 Jun 2020 (modified: 05 May 2023)
- L4DC 2020
- Readers: Everyone
L1-GP: L1 Adaptive Control with Bayesian Learning
Aditya Gahlawat, Pan Zhao, Andrew Patterson, Naira Hovakimyan, Evangelos Theodorou
- 08 Jun 2020 (modified: 05 May 2023)
- L4DC 2020
- Readers: Everyone
Learning to Plan via Deep Optimistic Value Exploration
Tim Seyde, Wilko Schwarting, Sertac Karaman, Daniela Rus
- 08 Jun 2020 (modified: 05 May 2023)
- L4DC 2020
- Readers: Everyone
Distributed Reinforcement Learning for Decentralized Linear Quadratic Control: A Derivative-Free Policy Optimization Approach
Yingying Li, Yujie Tang, Runyu Zhang, Na Li
- 08 Jun 2020 (modified: 12 Mar 2024)
- L4DC 2020
- Readers: Everyone
Encoding Physical Constraints in Differentiable Newton-Euler Algorithm
Giovanni Sutanto, Austin Wang, Yixin Lin, Mustafa Mukadam, Gaurav Sukhatme, Akshara Rai, Franziska Meier
- 08 Jun 2020 (modified: 12 Mar 2024)
- L4DC 2020
- Readers: Everyone
Lyceum: An efficient and scalable ecosystem for robot learning
Colin Summers, Kendall Lowrey, Aravind Rajeswaran, Siddhartha Srinivasa, Emanuel Todorov
- 08 Jun 2020 (modified: 12 Mar 2024)
- L4DC 2020
- Readers: Everyone
Probabilistic Safety Constraints for Learned High Relative Degree System Dynamics
Mohammad Javad Khojasteh, Vikas Dhiman, Massimo Franceschetti, Nikolay Atanasov
- 08 Jun 2020 (modified: 05 May 2023)
- L4DC 2020
- Readers: Everyone
Tools for Data-driven Modeling of Within-Hand Manipulation with Underactuated Adaptive Hands
Avishai Sintov, Andrew Kimmel, Bowen Wen, Abdeslam Boularias, Kostas Bekris
- 08 Jun 2020 (modified: 05 May 2023)
- L4DC 2020
- Readers: Everyone
Objective Mismatch in Model-based Reinforcement Learning
Nathan Lambert, Brandon Amos, Omry Yadan, Roberto Calandra
- 08 Jun 2020 (modified: 05 May 2023)
- L4DC 2020
- Readers: Everyone
Identifying Mechanical Models through Differentiable Simulations
Changkyu Song, Abdeslam Boularias
- 08 Jun 2020 (modified: 05 May 2023)
- L4DC 2020
- Readers: Everyone