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Single-Level Differentiable Contact Simulation


Dec 13, 2022
Simon Le Cleac'h, Mac Schwager, Zachary Manchester, Vikas Sindhwani, Pete Florence, Sumeet Singh

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Robotic Table Wiping via Reinforcement Learning and Whole-body Trajectory Optimization


Oct 19, 2022
Thomas Lew, Sumeet Singh, Mario Prats, Jeffrey Bingham, Jonathan Weisz, Benjie Holson, Xiaohan Zhang, Vikas Sindhwani, Yao Lu, Fei Xia, Peng Xu, Tingnan Zhang, Jie Tan, Montserrat Gonzalez

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Learning Model Predictive Controllers with Real-Time Attention for Real-World Navigation


Sep 24, 2022
Xuesu Xiao, Tingnan Zhang, Krzysztof Choromanski, Edward Lee, Anthony Francis, Jake Varley, Stephen Tu, Sumeet Singh, Peng Xu, Fei Xia, Sven Mikael Persson, Dmitry Kalashnikov, Leila Takayama, Roy Frostig, Jie Tan, Carolina Parada, Vikas Sindhwani

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Multiscale Sensor Fusion and Continuous Control with Neural CDEs


Mar 16, 2022
Sumeet Singh, Francis McCann Ramirez, Jacob Varley, Andy Zeng, Vikas Sindhwani

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* Submitted to IEEE IROS 2022 

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Trajectory Optimization with Optimization-Based Dynamics


Sep 10, 2021
Taylor A. Howell, Simon Le Cleac'h, Sumeet Singh, Pete Florence, Zachary Manchester, Vikas Sindhwani

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Learning Stabilizable Nonlinear Dynamics with Contraction-Based Regularization


Jul 29, 2019
Sumeet Singh, Spencer M. Richards, Vikas Sindhwani, Jean-Jacques E. Slotine, Marco Pavone

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* Invited submission for IJRR; under review. arXiv admin note: text overlap with arXiv:1808.00113 

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Improving Robustness of Machine Translation with Synthetic Noise


Apr 10, 2019
Vaibhav Vaibhav, Sumeet Singh, Craig Stewart, Graham Neubig

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* Accepted at NAACL 2019 

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Learning Stabilizable Dynamical Systems via Control Contraction Metrics


Nov 11, 2018
Sumeet Singh, Vikas Sindhwani, Jean-Jacques E. Slotine, Marco Pavone

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* To appear at WAFR 2018. v2: re-structured Sections 3 & 4 to improve clarity; expanded discussion on limitations & future work in Section 5; added details on training & validation, significantly expanded experiments 

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Robust Tracking with Model Mismatch for Fast and Safe Planning: an SOS Optimization Approach


Aug 02, 2018
Sumeet Singh, Mo Chen, Sylvia L. Herbert, Claire J. Tomlin, Marco Pavone

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* Submitted to WAFR 2018 

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