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A System-Level View on Out-of-Distribution Data in Robotics


Dec 28, 2022
Rohan Sinha, Apoorva Sharma, Somrita Banerjee, Thomas Lew, Rachel Luo, Spencer M. Richards, Yixiao Sun, Edward Schmerling, Marco Pavone

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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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Robust-RRT: Probabilistically-Complete Motion Planning for Uncertain Nonlinear Systems


May 16, 2022
Albert Wu, Thomas Lew, Kiril Solovey, Edward Schmerling, Marco Pavone

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* 16 pages of main text + 5 pages of appendix, 5 figures, submitted to the 2022 International Symposium on Robotics Research 

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Data-Driven Chance Constrained Control using Kernel Distribution Embeddings


Feb 08, 2022
Adam J. Thorpe, Thomas Lew, Meeko M. K. Oishi, Marco Pavone

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* Submitted to 4th Annual Learning for Dynamics & Control Conference (L4DC) 2022 

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A Simple and Efficient Sampling-based Algorithm for General Reachability Analysis


Dec 10, 2021
Thomas Lew, Lucas Janson, Riccardo Bonalli, Marco Pavone

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On the Problem of Reformulating Systems with Uncertain Dynamics as a Stochastic Differential Equation


Nov 11, 2021
Thomas Lew, Apoorva Sharma, James Harrison, Edward Schmerling, Marco Pavone

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Convex Optimization for Trajectory Generation


Jun 16, 2021
Danylo Malyuta, Taylor P. Reynolds, Michael Szmuk, Thomas Lew, Riccardo Bonalli, Marco Pavone, Behcet Acikmese

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* 68 pages, 42 figures, 5 tables. This work has been submitted to the IEEE for possible publication 

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NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge


Mar 28, 2021
Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey Edlund, Muhammad Fadhil Ginting, Kamak Ebadi, Matthew Anderson, Torkom Pailevanian, Edward Terry, Michael Wolf, Andrea Tagliabue, Tiago Stegun Vaquero, Matteo Palieri, Scott Tepsuporn, Yun Chang, Arash Kalantari, Fernando Chavez, Brett Lopez, Nobuhiro Funabiki, Gregory Miles, Thomas Touma, Alessandro Buscicchio, Jesus Tordesillas, Nikhilesh Alatur, Jeremy Nash, William Walsh, Sunggoo Jung, Hanseob Lee, Christoforos Kanellakis, John Mayo, Scott Harper, Marcel Kaufmann, Anushri Dixit, Gustavo Correa, Carlyn Lee, Jay Gao, Gene Merewether, Jairo Maldonado-Contreras, Gautam Salhotra, Maira Saboia Da Silva, Benjamin Ramtoula, Yuki Kubo, Seyed Fakoorian, Alexander Hatteland, Taeyeon Kim, Tara Bartlett, Alex Stephens, Leon Kim, Chuck Bergh, Eric Heiden, Thomas Lew, Abhishek Cauligi, Tristan Heywood, Andrew Kramer, Henry A. Leopold, Chris Choi, Shreyansh Daftry, Olivier Toupet, Inhwan Wee, Abhishek Thakur, Micah Feras, Giovanni Beltrame, George Nikolakopoulos, David Shim, Luca Carlone, Joel Burdick

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* For team website, see https://costar.jpl.nasa.gov/ 

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Analysis of Theoretical and Numerical Properties of Sequential Convex Programming for Continuous-Time Optimal Control


Sep 10, 2020
Riccardo Bonalli, Thomas Lew, Marco Pavone

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Safe Model-Based Meta-Reinforcement Learning: A Sequential Exploration-Exploitation Framework


Aug 26, 2020
Thomas Lew, Apoorva Sharma, James Harrison, Marco Pavone

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