Safe Guaranteed Exploration for Non-linear Systems

1 code implementation • 9 Feb 2024 • Manish Prajapat, Johannes Köhler, Matteo Turchetta, Andreas Krause, Melanie N. Zeilinger

Based on this framework we propose an efficient algorithm, SageMPC, SAfe Guaranteed Exploration using Model Predictive Control.

Efficient Exploration Model Predictive Control

Submodular Reinforcement Learning

1 code implementation • 25 Jul 2023 • Manish Prajapat, Mojmír Mutný, Melanie N. Zeilinger, Andreas Krause

In many important applications, such as coverage control, experiment design and informative path planning, rewards naturally have diminishing returns, i. e., their value decreases in light of similar states visited previously.

reinforcement-learning Reinforcement Learning (RL)

Near-Optimal Multi-Agent Learning for Safe Coverage Control

1 code implementation • 12 Oct 2022 • Manish Prajapat, Matteo Turchetta, Melanie N. Zeilinger, Andreas Krause

In this paper, we aim to efficiently learn the density to approximately solve the coverage problem while preserving the agents' safety.

Navigate Safe Exploration

Competitive Policy Optimization

4 code implementations • 18 Jun 2020 • Manish Prajapat, Kamyar Azizzadenesheli, Alexander Liniger, Yisong Yue, Anima Anandkumar

A core challenge in policy optimization in competitive Markov decision processes is the design of efficient optimization methods with desirable convergence and stability properties.

Policy Gradient Methods

AMZ Driverless: The Full Autonomous Racing System

4 code implementations • 13 May 2019 • Juraj Kabzan, Miguel de la Iglesia Valls, Victor Reijgwart, Hubertus Franciscus Cornelis Hendrikx, Claas Ehmke, Manish Prajapat, Andreas Bühler, Nikhil Gosala, Mehak Gupta, Ramya Sivanesan, Ankit Dhall, Eugenio Chisari, Napat Karnchanachari, Sonja Brits, Manuel Dangel, Inkyu Sa, Renaud Dubé, Abel Gawel, Mark Pfeiffer, Alexander Liniger, John Lygeros, Roland Siegwart

This paper presents the algorithms and system architecture of an autonomous racecar.

Robotics

Redundant Perception and State Estimation for Reliable Autonomous Racing

no code implementations • 26 Sep 2018 • Nikhil Bharadwaj Gosala, Andreas Bühler, Manish Prajapat, Claas Ehmke, Mehak Gupta, Ramya Sivanesan, Abel Gawel, Mark Pfeiffer, Mathias Bürki, Inkyu Sa, Renaud Dubé, Roland Siegwart

In autonomous racing, vehicles operate close to the limits of handling and a sensor failure can have critical consequences.