Ivan Dario Jimenez Rodriguez — accepted AI-conference papers

2024

Robust Agility via Learned Zero Dynamics Policies

Noel Csomay-Shanklin, William D. Compton, Ivan Dario Jimenez Rodriguez, Eric R. Ambrose, Yisong Yue, Aaron D. Ames

IROS 2024poster

We study the design of robust and agile controllers for hybrid underactuated systems. Our approach breaks down the task of creating a stabilizing controller into: 1) learning a mapping that is invariant under optimal control, and 2) driving the actuated coordinates to the output of that mapping. Thi…

Cited by 4 Source ↗Scholar ↗

2022

LyaNet: A Lyapunov Framework for Training Neural ODEs

Ivan Dario Jimenez Rodriguez, Aaron Ames, Yisong Yue

ICML 2022spotlight

We propose a method for training ordinary differential equations by using a control-theoretic Lyapunov condition for stability. Our approach, called LyaNet, is based on a novel Lyapunov loss formulation that encourages the inference dynamics to converge quickly to the correct prediction. Theoretical…

Cited by 57 Source ↗PDF ↗code ↗Scholar ↗

2022

Safe Drone Flight with Time-Varying Backup Controllers

Andrew Singletary, Aiden Swann, Ivan Dario Jimenez Rodriguez, Aaron D. Ames

IROS 2022poster

The weight, space, and power limitations of small aerial vehicles often prevent the application of modern control techniques without significant model simplifications. Moreover, high-speed agile behavior, such as that exhibited in drone racing, make these simplified models too unreliable for safety-…

Cited by 6 Source ↗Scholar ↗