no code implementations • 23 Aug 2023 • Thomas Power, Dmitry Berenson
We present Constrained Stein Variational Trajectory Optimization (CSVTO), an algorithm for performing trajectory optimization with constraints on a set of trajectories in parallel.
no code implementations • 10 May 2022 • Thomas Power, Dmitry Berenson
We propose a Model Predictive Control (MPC) method for collision-free navigation that uses amortized variational inference to approximate the distribution of optimal control sequences by training a normalizing flow conditioned on the start, goal and environment.
no code implementations • 4 Feb 2021 • Thomas Power, Dmitry Berenson
We use these images to train a perception model that estimates the simple model state from observations of the complex system online.