Search Results for author: Spencer M. Richards

Found 5 papers, 4 papers with code

Control-oriented meta-learning

1 code implementation14 Apr 2022 Spencer M. Richards, Navid Azizan, Jean-Jacques Slotine, Marco Pavone

Real-time adaptation is imperative to the control of robots operating in complex, dynamic environments.

Meta-Learning

Adaptive Robust Model Predictive Control with Matched and Unmatched Uncertainty

no code implementations16 Apr 2021 Rohan Sinha, James Harrison, Spencer M. Richards, Marco Pavone

We propose a learning-based robust predictive control algorithm that compensates for significant uncertainty in the dynamics for a class of discrete-time systems that are nominally linear with an additive nonlinear component.

Adaptive-Control-Oriented Meta-Learning for Nonlinear Systems

1 code implementation7 Mar 2021 Spencer M. Richards, Navid Azizan, Jean-Jacques Slotine, Marco Pavone

Real-time adaptation is imperative to the control of robots operating in complex, dynamic environments.

Meta-Learning

Learning Stabilizable Nonlinear Dynamics with Contraction-Based Regularization

1 code implementation29 Jul 2019 Sumeet Singh, Spencer M. Richards, Vikas Sindhwani, Jean-Jacques E. Slotine, Marco Pavone

We propose a novel framework for learning stabilizable nonlinear dynamical systems for continuous control tasks in robotics.

Continuous Control

The Lyapunov Neural Network: Adaptive Stability Certification for Safe Learning of Dynamical Systems

1 code implementation2 Aug 2018 Spencer M. Richards, Felix Berkenkamp, Andreas Krause

We demonstrate our method by learning the safe region of attraction for a simulated inverted pendulum.

Cannot find the paper you are looking for? You can Submit a new open access paper.