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VP-STO: Via-point-based Stochastic Trajectory Optimization for Reactive Robot Behavior


Oct 08, 2022
Julius Jankowski, Lara Brudermüller, Nick Hawes, Sylvain Calinon

* *Authors contributed equally 

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Unbiased Active Inference for Classical Control


Jul 27, 2022
Mohamed Baioumy, Corrado Pezzato, Riccardo Ferrari, Nick Hawes

* 8 pages, 8 figures. Accepted at IROS 2022 

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RAMBO-RL: Robust Adversarial Model-Based Offline Reinforcement Learning


Apr 26, 2022
Marc Rigter, Bruno Lacerda, Nick Hawes


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Beta Residuals: Improving Fault-Tolerant Control for Sensory Faults via Bayesian Inference and Precision Learning


Apr 17, 2022
Mohamed Baioumy, William Hartemink, Riccardo M. G. Ferrari, Nick Hawes

* 7 pages, 2 figures. Accepted at the 11th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes - SAFEPROCESS 2022 

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Lexicographic Optimisation of Conditional Value at Risk and Expected Value for Risk-Averse Planning in MDPs


Oct 25, 2021
Marc Rigter, Paul Duckworth, Bruno Lacerda, Nick Hawes


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Risk-Aware Motion Planning in Partially Known Environments


Sep 23, 2021
Fernando S. Barbosa, Bruno Lacerda, Paul Duckworth, Jana Tumova, Nick Hawes

* 7 pages, 2 figures, to be published in CDC 2021 

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Towards Stochastic Fault-tolerant Control using Precision Learning and Active Inference


Sep 13, 2021
Mohamed Baioumy, Corrado Pezzato, Carlos Hernandez Corbato, Nick Hawes, Riccardo Ferrari

* Presented at the International Workshop on Active Inference (IWAI) 2021; 11 pages, 3 figures 

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On Solving a Stochastic Shortest-Path Markov Decision Process as Probabilistic Inference


Sep 13, 2021
Mohamed Baioumy, Bruno Lacerda, Paul Duckworth, Nick Hawes

* Presented at the second International Workshop on Active Inference (IWAI 2021); 11 pages, 2 figures 

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Fault-tolerant Control of Robot Manipulators with Sensory Faults using Unbiased Active Inference


Apr 05, 2021
Mohamed Baioumy, Corrado Pezzato, Riccardo Ferrari, Carlos Hernandez Corbato, Nick Hawes

* 7 pages, 6 figures, Accepted at the European Control Conference (ECC) 2021 

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Risk-Averse Bayes-Adaptive Reinforcement Learning


Feb 10, 2021
Marc Rigter, Bruno Lacerda, Nick Hawes


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