• Publications
  • Influence
Task level hierarchical system for BCI-enabled shared autonomy
TLDR
This paper describes a novel hierarchical system for shared control of a humanoid robot. Expand
  • 8
  • PDF
Time Dependence in Non-Autonomous Neural ODEs
TLDR
We propose a novel family of Neural ODEs with time-varying weights, where time-dependence is non-parametric, and the smoothness of weight trajectories can be explicitly controlled to allow a tradeoff between expressiveness and efficiency. Expand
  • 4
  • PDF
Teleoperator Imitation with Continuous-time Safety
TLDR
We propose a new motion learning technique rooted in contraction theory and sum-of-squares programming for estimating a control law in the form of a polynomial vector field from a given set of demonstrations. Expand
  • 2
  • PDF