JAX

Mode remaining navigation (and exploration) in unknown multimodal dynamical systems via model-based reinforcement learning.

In this talk I will present our ICRA 2021 paper “Trajectory Optimisation in Learned Multimodal Dynamical Systems via Latent-ODE Collocation”.

Minimal Gaussian process library in JAX with a simple (custom) approach to state management.

Synergising Bayesian inference and Riemannian geometry for control in multimodal dynamical systems.

This talk presented recent work synergising Bayesian inference and probabilistic Riemannian geometries to control multimodal dynamical …

This work presents a two-stage method to perform trajectory optimisation in multimodal dynamical systems with unknown nonlinear stochastic transition dynamics. The method finds trajectories that remain in a preferred dynamics mode where possible and in regions of the transition dynamics model that have been observed and can be predicted confidently.