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Dive into the research topics where Ching-An Cheng is active.

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Featured researches published by Ching-An Cheng.


international conference on robotics and automation | 2017

Approximately optimal continuous-time motion planning and control via Probabilistic Inference

Mustafa Mukadam; Ching-An Cheng; Xinyan Yan; Byron Boots

The problem of optimal motion planing and control is fundamental in robotics. However, this problem is intractable for continuous-time stochastic systems in general and the solution is difficult to approximate if non-instantaneous nonlinear performance indices are present. In this work, we provide an efficient algorithm, PIPC (Probabilistic Inference for Planning and Control), that yields approximately optimal policies with arbitrary higher-order nonlinear performance indices. Using probabilistic inference and a Gaussian process representation of trajectories, PIPC exploits the underlying sparsity of the problem such that its complexity scales linearly in the number of nonlinear factors. We demonstrate the capabilities of our algorithm in a receding horizon setting with multiple systems in simulation.


arXiv: Robotics | 2017

Agile Off-Road Autonomous Driving Using End-to-End Deep Imitation Learning.

Yunpeng Pan; Ching-An Cheng; Kamil Saigol; Keuntaek Lee; Xinyan Yan; Evangelos A. Theodorou; Byron Boots


neural information processing systems | 2016

Incremental Variational Sparse Gaussian Process Regression

Ching-An Cheng; Byron Boots


international conference on artificial intelligence and statistics | 2018

Convergence of Value Aggregation for Imitation Learning

Ching-An Cheng; Byron Boots


robotics science and systems | 2018

Agile Autonomous Driving using End-to-End Deep Imitation Learning

Yunpeng Pan; Ching-An Cheng; Kamil Saigol; Keuntaek Lee; Xinyan Yan; Evangelos A. Theodorou; Byron Boots


uncertainty in artificial intelligence | 2018

Fast Policy Learning using Imitation and Reinforcement

Ching-An Cheng; Xinyan Yan; Nolan Wagener; Byron Boots


neural information processing systems | 2018

Orthogonally Decoupled Variational Gaussian Processes

Hugh Salimbeni; Ching-An Cheng; Byron Boots; Marc Peter Deisenroth


international conference on robotics and automation | 2018

Optical Sensing and Control Methods for Soft Pneumatically Actuated Robotic Manipulators

Jennifer L. Molnar; Ching-An Cheng; Lucas O. Tiziani; Byron Boots; Frank L. Hammond


arXiv: Learning | 2018

Accelerating Imitation Learning with Predictive Models

Ching-An Cheng; Xinyan Yan; Evangelos A. Theodorou; Byron Boots


arXiv: Learning | 2018

Predictor-Corrector Policy Optimization

Ching-An Cheng; Xinyan Yan; Nathan D. Ratliff; Byron Boots

Collaboration


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Byron Boots

Georgia Institute of Technology

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Xinyan Yan

Georgia Institute of Technology

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Evangelos A. Theodorou

Georgia Institute of Technology

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Kamil Saigol

Georgia Institute of Technology

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Nolan Wagener

Georgia Institute of Technology

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Yunpeng Pan

Georgia Institute of Technology

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Amirreza Shaban

Georgia Institute of Technology

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Jennifer L. Molnar

Georgia Institute of Technology

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Lucas O. Tiziani

Georgia Institute of Technology

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