Publications (46)
A Uniform-grid Discretization Algorithm for Stochastic Control with Risk Constraints
Yin-Lam Chow, Marco Pavone
Scalable and Congestion-aware Routing for Autonomous Mobility-on-Demand via Frank-Wolfe Optimization
Kiril Solovey, Mauro Salazar, Marco Pavone
Risk-Sensitive Generative Adversarial Imitation Learning
Jonathan Lacotte, Mohammad Ghavamzadeh, Yinlam Chow +1
On the fundamental limitations of performance for distributed decision-making in robotic networks
Federico Rossi, Marco Pavone
Distributed and Adaptive Algorithms for Vehicle Routing in a Stochastic and Dynamic Environment
Marco Pavone, Emilio Frazzoli, Francesco Bullo
A Differentiable Augmented Lagrangian Method for Bilevel Nonlinear Optimization
Benoit Landry, Zachary Manchester, Marco Pavone
Optimal Sampling-Based Motion Planning under Differential Constraints: the Drift Case with Linear Affine Dynamics
Edward Schmerling, Lucas Janson, Marco Pavone
Meta-Learning Priors for Efficient Online Bayesian Regression
James Harrison, Apoorva Sharma, Marco Pavone
Multimodal Probabilistic Model-Based Planning for Human-Robot Interaction
Edward Schmerling, Karen Leung, Wolf Vollprecht +1
Fast Marching Tree: a Fast Marching Sampling-Based Method for Optimal Motion Planning in Many Dimensions
Lucas Janson, Edward Schmerling, Ashley Clark +1
Risk-sensitive Inverse Reinforcement Learning via Semi- and Non-Parametric Methods
Sumeet Singh, Jonathan Lacotte, Anirudha Majumdar +1
Risk-Constrained Reinforcement Learning with Percentile Risk Criteria
Yinlam Chow, Mohammad Ghavamzadeh, Lucas Janson +1
A Convex Optimization Approach to Smooth Trajectories for Motion Planning with Car-Like Robots
Zhijie Zhu, Edward Schmerling, Marco Pavone
Rebalancing the Rebalancers: Optimally Routing Vehicles and Drivers in Mobility-on-Demand Systems
Stephen L. Smith, Marco Pavone, Mac Schwager +2
GuSTO: Guaranteed Sequential Trajectory Optimization via Sequential Convex Programming
Riccardo Bonalli, Abhishek Cauligi, Andrew Bylard +1
The Team Surviving Orienteers Problem: Routing Robots in Uncertain Environments with Survival Constraints
Stefan Jorgensen, Robert H. Chen, Mark B. Milam +1
Optimized and Trusted Collision Avoidance for Unmanned Aerial Vehicles using Approximate Dynamic Programming (Technical Report)
Zachary N. Sunberg, Mykel J. Kochenderfer, Marco Pavone
Optimal Sampling-Based Motion Planning under Differential Constraints: the Driftless Case
Edward Schmerling, Lucas Janson, Marco Pavone
Safe Motion Planning in Unknown Environments: Optimality Benchmarks and Tractable Policies
Lucas Janson, Tommy Hu, Marco Pavone
Control of Robotic Mobility-On-Demand Systems: a Queueing-Theoretical Perspective
Rick Zhang, Marco Pavone
A Framework for Time-Consistent, Risk-Averse Model Predictive Control: Theory and Algorithms
Yin-Lam Chow, Marco Pavone
Perception-Aware Motion Planning via Multiobjective Search on GPUs
Brian Ichter, Benoit Landry, Edward Schmerling +1
ADAPT: Zero-Shot Adaptive Policy Transfer for Stochastic Dynamical Systems
James Harrison, Animesh Garg, Boris Ivanovic +4
Two Phase $Q-$learning for Bidding-based Vehicle Sharing
Yinlam Chow, Jia Yuan Yu, Marco Pavone
Generative Modeling of Multimodal Multi-Human Behavior
Boris Ivanovic, Edward Schmerling, Karen Leung +1
Review of Multi-Agent Algorithms for Collective Behavior: a Structural Taxonomy
Federico Rossi, Saptarshi Bandyopadhyay, Michael Wolf +1
Risk-Sensitive and Robust Decision-Making: a CVaR Optimization Approach
Yinlam Chow, Aviv Tamar, Shie Mannor +1
Deterministic Sampling-Based Motion Planning: Optimality, Complexity, and Performance
Lucas Janson, Brian Ichter, Marco Pavone
Stochastic Optimal Control With Dynamic, Time-Consistent Risk Constraints
Yin-Lam Chow, Marco Pavone
An Asymptotically-Optimal Sampling-Based Algorithm for Bi-directional Motion Planning
Joseph A. Starek, Javier V. Gomez, Edward Schmerling +3
Learning Stabilizable Nonlinear Dynamics with Contraction-Based Regularization
Sumeet Singh, Spencer M. Richards, Vikas Sindhwani +2
The paper introduces a control‑theoretic regularizer based on contraction theory to learn nonlinear dynamical models that are guaranteed to be stabilizable, and demonstrates improv…
Network Offloading Policies for Cloud Robotics: a Learning-based Approach
Sandeep Chinchali, Apoorva Sharma, James Harrison +6
Trajectory Optimization on Manifolds: A Theoretically-Guaranteed Embedded Sequential Convex Programming Approach
Riccardo Bonalli, Andrew Bylard, Abhishek Cauligi +2
Monte Carlo Motion Planning for Robot Trajectory Optimization Under Uncertainty
Lucas Janson, Edward Schmerling, Marco Pavone
Routing Autonomous Vehicles in Congested Transportation Networks: Structural Properties and Coordination Algorithms
Rick Zhang, Federico Rossi, Marco Pavone
Equitable Partitioning Policies for Mobile Robotic Networks
Marco Pavone, Alessandro Arsie, Emilio Frazzoli +1
Evaluating Trajectory Collision Probability through Adaptive Importance Sampling for Safe Motion Planning
Edward Schmerling, Marco Pavone
A Time Consistent Formulation of Risk Constrained Stochastic Optimal Control
Yinlam Chow, Marco Pavone
Robot Motion Planning in Learned Latent Spaces
Brian Ichter, Marco Pavone
Group Marching Tree: Sampling-Based Approximately Optimal Motion Planning on GPUs
Brian Ichter, Edward Schmerling, Marco Pavone
Risk Aversion in Finite Markov Decision Processes Using Total Cost Criteria and Average Value at Risk
Stefano Carpin, Yin-Lam Chow, Marco Pavone
Robust and Adaptive Planning under Model Uncertainty
Apoorva Sharma, James Harrison, Matthew Tsao +1
Learning Sampling Distributions for Robot Motion Planning
Brian Ichter, James Harrison, Marco Pavone
Trading Safety Versus Performance: Rapid Deployment of Robotic Swarms with Robust Performance Constraints
Yin-Lam Chow, Marco Pavone, Brian M. Sadler +1
Dynamic Multi-Vehicle Routing with Multiple Classes of Demands
Marco Pavone, Stephen L. Smith, Francesco Bullo +1
Real-Time Stochastic Kinodynamic Motion Planning via Multiobjective Search on GPUs
Brian Ichter, Edward Schmerling, Ali-akbar Agha-mohammadi +1