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From Obstacle Avoidance To Motion Learning Using Local Rotation of Dynamical Systems


Oct 26, 2022
Lukas Huber, Jean-Jacques Slotine, Aude Billard

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Stability Guarantees for Continuous RL Control


Sep 17, 2022
Bing Song, Jean-Jacques Slotine, Quang-Cuong Pham

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Unmatched Control Barrier Functions: Certainty Equivalence Adaptive Safety


Aug 16, 2022
Brett T. Lopez, Jean-Jacques Slotine

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* Added high relative degree results 

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Fast Obstacle Avoidance Based on Real-Time Sensing


May 10, 2022
Lukas Huber, Aude Billard, Jean-Jacques Slotine

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Control-oriented meta-learning


Apr 14, 2022
Spencer M. Richards, Navid Azizan, Jean-Jacques Slotine, Marco Pavone

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* First published in Robotics: Science and Systems (RSS) 2021. This extended version is under review for a special issue in the International Journal of Robotics Research (IJRR). arXiv admin note: substantial text overlap with arXiv:2103.04490 

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Generalization in Supervised Learning Through Riemannian Contraction


Jan 26, 2022
Leo Kozachkov, Patrick M. Wensing, Jean-Jacques Slotine

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* 22 pages, 5, figures 

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A Theoretical Overview of Neural Contraction Metrics for Learning-based Control with Guaranteed Stability


Oct 02, 2021
Hiroyasu Tsukamoto, Soon-Jo Chung, Jean-Jacques Slotine, Chuchu Fan

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* IEEE Conference on Decision and Control (CDC), Preprint Version. Accepted July, 2021 

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Contraction Theory for Nonlinear Stability Analysis and Learning-based Control: A Tutorial Overview


Oct 01, 2021
Hiroyasu Tsukamoto, Soon-Jo Chung, Jean-Jacques Slotine

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* Annual Reviews in Control, Accepted, Oct. 1st 

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