Optimal Control Combining Emulation and Imitation to Acquire Physical Assistance Skills
Related publications (48)
Graph Chatbot
Chat with Graph Search
Ask any question about EPFL courses, lectures, exercises, research, news, etc. or try the example questions below.
DISCLAIMER: The Graph Chatbot is not programmed to provide explicit or categorical answers to your questions. Rather, it transforms your questions into API requests that are distributed across the various IT services officially administered by EPFL. Its purpose is solely to collect and recommend relevant references to content that you can explore to help you answer your questions.
We study the convergence rate of the moment-sum-of-squares hierarchy of semidefinite programs for optimal control problems with polynomial data. It is known that this hierarchy generates polynomial under-approximations to the value function of the optimal ...
In this article, we propose a new controller for recovering intermittent pushes during bipedal locomotion. We use 3LP as a template model which can provide closed-form solutions for state evolution. The idea behind our controller is to project the perturbe ...
In free viewpoint video, a viewer can choose at will any camera angle or the so-called "virtual view" to observe a dynamic 3-D scene, enhancing his/her depth perception. The virtual view is synthesized using texture and depth videos of two anchor camera vi ...
A standard question arising in optimal transport theory is whether the Monge problem and the Kantorovich relaxation have the same infimum; the positive answer means that we can pass to the relaxed problem without loss of information. In the classical case ...
Coordinate descent methods usually minimize a cost function by updating a random decision variable (corresponding to one coordinate) at a time. Ideally, we would update the decision variable that yields the largest decrease in the cost function. However, f ...
This deliverable specifies the utility metrics that are considered and used in the scope of the OpenIoT project. These utility metrics are recorded as part of the implementation of the Utility Manager component of the OpenIoT platform, while they have also ...
Chemical process optimization problems often have multiple and conflicting objectives, such as capital cost, operating cost, production cost, profit, energy consumptions and environmental impacts. In such cases, Multi-Objective Optimization (MOO) is suitab ...
This paper considers the task of finding a target location by making a limited number of sequential observations. Each observation results from evaluating an imperfect classifier of a chosen cost and accuracy on an interval of chosen length and position. W ...
We consider multi-agent decision making, where each agent optimizes its cost function subject to constraints. Agents’ actions belong to a compact convex Euclidean space and the agents’ cost functions are coupled. We propose a distributed payoff-based algor ...
Decision making and planning with partial state information is a problem faced by all forms of intelligent entities. The formulation of a problem under partial state information leads to an exorbitant set of choices with associated probabilistic outcomes m ...