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Variational Inference MPC using Normalizing Flows and Out-of-Distribution Projection


May 10, 2022
Thomas Power, Dmitry Berenson

* Robotics: Science and Systems (RSS) 2022 

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Keep it Simple: Data-efficient Learning for Controlling Complex Systems with Simple Models


Feb 17, 2021
Thomas Power, Dmitry Berenson

* 8 pages, 5 figures (excluding tables and algorithms), 2 algorithms, 1 table, accepted to RA-L. Video: https://www.youtube.com/watch?v=Y0MOhBJejGc 

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Learning When to Trust a Dynamics Model for Planning in Reduced State Spaces


Jan 29, 2020
Dale McConachie, Thomas Power, Peter Mitrano, Dmitry Berenson

* Accepted to IEEE Robotics and Automation Letters with presentation at ICRA 2020. The attached video can be found at https://www.youtube.com/watch?v=2fRP4zrNj7M 

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