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Real Time Safety of Fixed-wing UAVs using Collision Cone Control Barrier Functions
Fixed-wing UAVs have transformed the transportation system with their high flight speed and long endurance, yet their safe operation in increasingly cluttered environments depends heavily on effective collision avoidance techniques.
BiRoDiff: Diffusion policies for bipedal robot locomotion on unseen terrains
We have designed a real-time robot controller based on diffusion models, which not only captures multiple behaviours with different velocities in a single policy but also generalizes well for unseen terrains.
A Theoretical and Empirical Study on the Convergence of Adam with an "Exact" Constant Step Size in Non-Convex Settings
Lastly, (iii) we also demonstrate that our derived constant step size has better abilities in reducing the gradient norms, and empirically, we show that despite the accumulation of a few past gradients, the key driver for convergence in Adam is the non-increasing step sizes.
