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Safety Embedded Differential Dynamic Programming using Discrete Barrier States


May 30, 2021
Hassan Almubarak, Kyle Stachowicz, Nader Sadegh, Evangelos A. Theodorou


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Dynamic Game Theoretic Neural Optimizer


May 08, 2021
Guan-Horng Liu, Tianrong Chen, Evangelos A. Theodorou

* Accepted in International Conference on Machine Learning (ICML) 2021 as Oral 

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Variational Inference MPC using Tsallis Divergence


Apr 01, 2021
Ziyi Wang, Oswin So, Jason Gibson, Bogdan Vlahov, Manan S. Gandhi, Guan-Horng Liu, Evangelos A. Theodorou


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Stochastic Spatio-Temporal Optimization for Control and Co-Design of Systems in Robotics and Applied Physics


Feb 18, 2021
Ethan N. Evans, Andrew P. Kendall, Evangelos A. Theodorou

* 34 pages, 10 figures. Submitted to Autonomous Robots special issue of RSS 2020. arXiv admin note: text overlap with arXiv:2002.01397 

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Distributed Algorithms for Linearly-Solvable Optimal Control in Networked Multi-Agent Systems


Feb 18, 2021
Neng Wan, Aditya Gahlawat, Naira Hovakimyan, Evangelos A. Theodorou, Petros G. Voulgaris


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Multi-agent Deep FBSDE Representation For Large Scale Stochastic Differential Games


Nov 21, 2020
Tianrong Chen, Ziyi Wang, Ioannis Exarchos, Evangelos A. Theodorou


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Cooperative Path Integral Control for Stochastic Multi-Agent Systems


Sep 30, 2020
Neng Wan, Aditya Gahlawat, Naira Hovakimyan, Evangelos A. Theodorou, Petros G. Voulgaris

* Submitted to American Control Conference 2021 

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Compositionality of Linearly Solvable Optimal Control in Networked Multi-Agent Systems


Sep 28, 2020
Lin Song, Neng Wan, Aditya Gahlawat, Naira Hovakimyan, Evangelos A. Theodorou


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Safe Optimal Control Using Stochastic Barrier Functions and Deep Forward-Backward SDEs


Sep 02, 2020
Marcus Aloysius Pereira, Ziyi Wang, Ioannis Exarchos, Evangelos A. Theodorou


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Adaptive CVaR Optimization for Dynamical Systems with Path Space Stochastic Search


Sep 02, 2020
Ziyi Wang, Oswin So, Keuntaek Lee, Camilo A. Duarte, Evangelos A. Theodorou


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A Differential Game Theoretic Neural Optimizer for Training Residual Networks


Jul 17, 2020
Guan-Horng Liu, Tianrong Chen, Evangelos A. Theodorou


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Non-convex Optimization via Adaptive Stochastic Search for End-to-End Learning and Control


Jun 22, 2020
Ioannis Exarchos, Marcus A. Pereira, Ziyi Wang, Evangelos A. Theodorou


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Approximate Inverse Reinforcement Learning from Vision-based Imitation Learning


Apr 17, 2020
Keuntaek Lee, Bogdan Vlahov, Jason Gibson, James M. Rehg, Evangelos A. Theodorou


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Differential Dynamic Programming Neural Optimizer


Feb 20, 2020
Guan-Horng Liu, Tianrong Chen, Evangelos A. Theodorou


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Deep Learning Tubes for Tube MPC


Feb 05, 2020
David D. Fan, Ali-akbar Agha-mohammadi, Evangelos A. Theodorou


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Aggressive Perception-Aware Navigation using Deep Optical Flow Dynamics and PixelMPC


Jan 07, 2020
Keuntaek Lee, Jason Gibson, Evangelos A. Theodorou


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Bayesian Learning-Based Adaptive Control for Safety Critical Systems


Oct 05, 2019
David D. Fan, Jennifer Nguyen, Rohan Thakker, Nikhilesh Alatur, Ali-akbar Agha-mohammadi, Evangelos A. Theodorou


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Deep Learning Theory Review: An Optimal Control and Dynamical Systems Perspective


Sep 28, 2019
Guan-Horng Liu, Evangelos A. Theodorou

* Under Submission 

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Deep Forward-Backward SDEs for Min-max Control


Jun 11, 2019
Ziyi Wang, Keuntaek Lee, Marcus A. Pereira, Ioannis Exarchos, Evangelos A. Theodorou


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Deep 2FBSDEs for Systems with Control Multiplicative Noise


Jun 11, 2019
Ziyi Wang, Marcus A. Pereira, Evangelos A. Theodorou


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Locally Weighted Regression Pseudo-Rehearsal for Online Learning of Vehicle Dynamics


May 13, 2019
Grady Williams, Brian Goldfain, James M. Rehg, Evangelos A. Theodorou

* 10 pages, 4 figures 

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Perceptual Attention-based Predictive Control


Apr 26, 2019
Keuntaek Lee, Gabriel Nakajima An, Viacheslav Zakharov, Evangelos A. Theodorou


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Ensemble Bayesian Decision Making with Redundant Deep Perceptual Control Policies


Feb 19, 2019
Keuntaek Lee, Ziyi Wang, Bogdan I. Vlahov, Harleen K. Brar, Evangelos A. Theodorou


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Neural Network Architectures for Stochastic Control using the Nonlinear Feynman-Kac Lemma


Feb 18, 2019
Marcus Pereira, Ziyi Wang, Ioannis Exarchos, Evangelos A. Theodorou


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Vision-Based High Speed Driving with a Deep Dynamic Observer


Dec 10, 2018
Paul Drews, Grady Williams, Brian Goldfain, Evangelos A. Theodorou, James M. Rehg


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Safe end-to-end imitation learning for model predictive control


Oct 14, 2018
Keuntaek Lee, Kamil Saigol, Evangelos A. Theodorou


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Accelerating Imitation Learning with Predictive Models


Oct 13, 2018
Ching-An Cheng, Xinyan Yan, Evangelos A. Theodorou, Byron Boots


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Hierarchical Optimization for Whole-Body Control of Wheeled Inverted Pendulum Humanoids


Oct 07, 2018
Munzir Zafar, Seth Hutchinson, Evangelos A. Theodorou


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Safe Learning of Quadrotor Dynamics Using Barrier Certificates


Oct 16, 2017
Li Wang, Evangelos A. Theodorou, Magnus Egerstedt

* Submitted to ICRA 2018, 8 pages 

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