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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

* 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

* 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

* 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

* Submitted to WAFR 2018 

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Risk-sensitive Inverse Reinforcement Learning via Semi- and Non-Parametric Methods

Mar 22, 2018
Sumeet Singh, Jonathan Lacotte, Anirudha Majumdar, Marco Pavone

* Submitted to International Journal of Robotics Research; Revision 1: (i) Clarified minor technical points; (ii) Revised proof for Theorem 3 to hold under weaker assumptions; (iii) Added additional figures and expanded discussions to improve readability 

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Decentralized Algorithms for 3D Symmetric Formations in Robotic Networks: a Contraction Theory Approach

Nov 09, 2015
Sumeet Singh, Edward Schmerling, Marco Pavone

* Submitted to IEEE Transactions in Robotics 

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