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Pontryagin-Differentiable-Programming
A unified end-to-end learning and control framework that is able to learn a (neural) control objective function, dynamics equation, control policy, or/and optimal trajectory in a control system.Safe-PDP
Safe Pontryagin Differentiable Programming (Safe PDP) is a new theoretical and algorithmic safe differentiable framework to solve a broad class of safety-critical learning and control tasks.Learning-from-Sparse-Demonstrations
A framework and method to jointly learn a (neural) control objective function and a time-warping function only from sparse demonstrations or waypoints.Task-Driven-Hybrid-Reduction
We developed a task-driven hybrid model reduction method for solving dexterous manipulation with 5 minutes of online learning.Learning-from-Directional-Corrections
A new method for a robot to learn a control objective from human user's directional corrections.IOC-from-Incomplete-Trajectory-Observations
Inverse optimal control from incomplete trajectory observations, proposing the concept of the recovery matrix which provides further insights into objective learning process.wanxinjin.github.io
Neural-Certificates-Safe-Policies
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