Imitation learning of Globally Stable Non-Linear Point-to-Point Robot Motions using Nonlinear Programming

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Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded in order to handl ...

Invariant solutions of the Navier-Stokes equations play an important role in the spatiotemporally chaotic dynamics of turbulent shear flows. Despite the significance of these solutions, their identification remains a computational challenge, rendering many ...

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Picking up objects to toss them on a conveyor belt are activities generated on a daily basis in the industry. These tasks are still done largely by humans. This paper proposes a unified motion generator for a bimanual robotic systems that enables two 7 deg ...

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Large efforts have focused on ensuring that the controllers for mobile service robots follow proxemics and other social rules to ensure both safe and socially acceptable distance to pedestrians. Nonetheless, involuntary contact may be unavoidable when the ...

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We address the problem of designing stabilizing control policies for nonlinear systems in discrete-time, while minimizing an arbitrary cost function. When the system is linear and the cost is convex, the System Level Synthesis (SLS) approach offers an effe ...

The alkali-silica reaction (ASR), also known as concrete cancer, is one of the most prevalent causes of concrete degradation. In this chemical reaction, amorphous silica in the aggregates reacts with alkalis in the pore solution. By absorbing water, hydrop ...

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In this paper, we analyze the recently proposed stochastic primal-dual hybrid gradient (SPDHG) algorithm and provide new theoretical results. In particular, we prove almost sure convergence of the iterates to a solution with convexity and linear convergenc ...

Imitation learning of Globally Stable Non-Linear Point-to-Point Robot Motions using Nonlinear Programming

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