Optimization

Human-Guided Motion Planning in Partially Observable Environments

Human-in-the-loop algorithm to compute joint-space trajectories for high-DoF robots under partial observability

Can Theoretical Algorithms Efficiently Escape Saddle Points in Deep Learning?

Review of optimization algorithms that can escape saddle points in Deep Learning and some experimental results

Robust Motion Planning under Sensing Uncertainty

Optimization-based motion planning algorithm capable of incorporating sensing uncertainty for a variety of noise models