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Composable Energy Policies for Reactive Motion Generation and Reinforcement Learning


May 11, 2021
Julen Urain, Anqi Li, Puze Liu, Carlo D'Eramo, Jan Peters

* 8 pages, RSS 2021, Robotics: Science and Systems 2021 

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CoDE: Collocation for Demonstration Encoding


May 07, 2021
Mandy Xie, Anqi Li, Karl Van Wyk, Frank Dellaert, Byron Boots, Nathan Ratliff


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RMP2: A Structured Composable Policy Class for Robot Learning


Mar 10, 2021
Anqi Li, Ching-An Cheng, M. Asif Rana, Man Xie, Karl Van Wyk, Nathan Ratliff, Byron Boots


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Towards Coordinated Robot Motions: End-to-End Learning of Motion Policies on Transform Trees


Dec 24, 2020
M. Asif Rana, Anqi Li, Dieter Fox, Sonia Chernova, Byron Boots, Nathan Ratliff

* 7 pages 

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Geometric Fabrics for the Acceleration-based Design of Robotic Motion


Nov 11, 2020
Mandy Xie, Karl Van Wyk, Anqi Li, Muhammad Asif Rana, Dieter Fox, Byron Boots, Nathan Ratliff


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Generalized Nonlinear and Finsler Geometry for Robotics


Nov 04, 2020
Nathan D. Ratliff, Karl Van Wyk, Mandy Xie, Anqi Li, Asif Muhammad Rana


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Optimization Fabrics for Behavioral Design


Nov 04, 2020
Nathan D. Ratliff, Karl Van Wyk, Mandy Xie, Anqi Li, Asif Muhammad Rana

* arXiv admin note: substantial text overlap with arXiv:2008.02399 

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Optimization Fabrics


Aug 22, 2020
Nathan D. Ratliff, Karl Van Wyk, Mandy Xie, Anqi Li, Muhammad Asif Rana


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Euclideanizing Flows: Diffeomorphic Reduction for Learning Stable Dynamical Systems


May 27, 2020
Muhammad Asif Rana, Anqi Li, Dieter Fox, Byron Boots, Fabio Ramos, Nathan Ratliff

* 2nd Annual Conference on Learning for Dynamics and Control (L4DC) 2020 

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Inferring and Learning Multi-Robot Policies by Observing an Expert


Sep 17, 2019
Pietro Pierpaoli, Harish Ravichandar, Nicholas Waytowich, Anqi Li, Derrik Asher, Magnus Egerstedt

* 8 pages, 7 figures 

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A Sequential Composition Framework for Coordinating Multi-Robot Behaviors


Jul 17, 2019
Pietro Pierpaoli, Anqi Li, Mohit Srinivasan, Xiaoyi Cai, Samuel Coogan, Magnus Egerstedt

* 11 pages, 4 figures 

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Stable, Concurrent Controller Composition for Multi-Objective Robotic Tasks


Mar 29, 2019
Anqi Li, Ching-An Cheng, Byron Boots, Magnus Egerstedt


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Multi-Objective Policy Generation for Multi-Robot Systems Using Riemannian Motion Policies


Feb 16, 2019
Anqi Li, Mustafa Mukadam, Magnus Egerstedt, Byron Boots


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