Variational Inference MPC using Tsallis Divergence

no code implementations • 1 Apr 2021 • Ziyi Wang, Oswin So, Jason Gibson, Bogdan Vlahov, Manan S. Gandhi, Guan-Horng Liu, Evangelos A. Theodorou

In this paper, we provide a generalized framework for Variational Inference-Stochastic Optimal Control by using thenon-extensive Tsallis divergence.

Model Predictive Control Variational Inference

Approximate Inverse Reinforcement Learning from Vision-based Imitation Learning

no code implementations • 17 Apr 2020 • Keuntaek Lee, Bogdan Vlahov, Jason Gibson, James M. Rehg, Evangelos A. Theodorou

In this work, we present a method for obtaining an implicit objective function for vision-based navigation.

Autonomous Driving Imitation Learning +4

Online Center of Mass Estimation for a Humanoid Wheeled Inverted Pendulum Robot

1 code implementation • 7 Oct 2018 • Munzir Zafar, Akash Patel, Bogdan Vlahov, Nathaniel Glaser, Sergio Aguillera, Seth Hutchinson

We present a novel application of robust control and online learning for the balancing of a n Degree of Freedom (DoF), Wheeled Inverted Pendulum (WIP) humanoid robot.