publications

2024

1. 

   Learning a Generalizable Trajectory Sampling Distribution for Model Predictive Control

   Thomas Power, and Dmitry Berenson

   IEEE Transactions on Robotics, 2024

   Bib HTML Video

   @article{10449376,
     author = {Power, Thomas and Berenson, Dmitry},
     journal = {IEEE Transactions on Robotics},
     title = {Learning a Generalizable Trajectory Sampling Distribution for Model Predictive Control},
     year = {2024},
     volume = {40},
     pages = {2111-2127},
     doi = {10.1109/TRO.2024.3370026},
   }

2. 

   Constrained Stein Variational Trajectory Optimization

   Thomas Power, and Dmitry Berenson

   IEEE Transactions on Robotics, 2024

   arXiv Bib HTML

   @article{power2023constrained,
     title = {Constrained Stein Variational Trajectory Optimization},
     author = {Power, Thomas and Berenson, Dmitry},
     journal = {IEEE Transactions on Robotics},
     year = {2024},
     volume = {40},
     number = {},
     pages = {3602-3619},
     doi = {10.1109/TRO.2024.3428428}
   }

2023

1. Task-space Kernels for Diverse Stein Variational MPC

   Madhav Shekhar Sharma , Thomas Power, and Dmitry Berenson

   In IROS 2023 Workshop on Differentiable Probabilistic Robotics: Emerging Perspectives on Robot Learning , 2023

   Bib HTML

   @inproceedings{sharma2023task,
     title = {Task-space Kernels for Diverse Stein Variational MPC},
     author = {Sharma, Madhav Shekhar and Power, Thomas and Berenson, Dmitry},
     booktitle = {IROS 2023 Workshop on Differentiable Probabilistic Robotics: Emerging Perspectives on Robot Learning},
     year = {2023},
   }

2. Sampling Constrained Trajectories Using Composable Diffusion Models

   Thomas Power, Rana Soltani-Zarrin , Soshi Iba , and 1 more author

   In IROS 2023 Workshop on Differentiable Probabilistic Robotics: Emerging Perspectives on Robot Learning , 2023

   Bib HTML

   @inproceedings{power2023sampling,
     title = {Sampling Constrained Trajectories Using Composable Diffusion Models},
     author = {Power, Thomas and Soltani-Zarrin, Rana and Iba, Soshi and Berenson, Dmitry},
     booktitle = {IROS 2023 Workshop on Differentiable Probabilistic Robotics: Emerging Perspectives on Robot Learning},
     year = {2023},
   }

2022

1. 

   Variational Inference MPC using Normalizing Flows and Out-of-Distribution Projection

   Thomas Power, and Dmitry Berenson

   In Robotics: Science and Systems , 2022

   arXiv Bib Video

   @inproceedings{power2022flowmpc,
     title = {Variational Inference MPC using Normalizing Flows and Out-of-Distribution Projection},
     author = {Power, Thomas and Berenson, Dmitry},
     booktitle = {Robotics: Science and Systems},
     year = {2022},
   }

2. Improving Sample-based MPC with Normalizing Flows & Out-of-distribution Projection

   Thomas Power, and Dmitry Berenson

   In Planning with Implicit Neural Representations of Geometry Workshop, ICRA , 2022

2021

1. 

   Keep It Simple: Data-Efficient Learning for Controlling Complex Systems With Simple Models

   Thomas Power, and Dmitry Berenson

   IEEE Robotics and Automation Letters, 2021

   Bib HTML Video

   @article{power2021lvspc,
     author = {Power, Thomas and Berenson, Dmitry},
     journal = {IEEE Robotics and Automation Letters},
     title = {Keep It Simple: Data-Efficient Learning for Controlling Complex Systems With Simple Models},
     year = {2021},
     volume = {6},
     number = {2},
     pages = {1184-1191},
   }

2. Variational Inference MPC for Robot Motion with Normalizing Flows

   Thomas Power, and Dmitry Berenson

   In Robot Learning Workshop, NeurIPS , 2021

2020

1. 

   Learning When to Trust a Dynamics Model for Planning in Reduced State Spaces

   Dale McConachie , Thomas Power, Peter Mitrano , and 1 more author

   IEEE Robotics and Automation Letters, 2020

   Bib HTML Video

   @article{8988145,
     author = {McConachie, Dale and Power, Thomas and Mitrano, Peter and Berenson, Dmitry},
     journal = {IEEE Robotics and Automation Letters},
     title = {Learning When to Trust a Dynamics Model for Planning in Reduced State Spaces},
     year = {2020},
     volume = {5},
     number = {2},
     pages = {3540-3547},
     doi = {10.1109/LRA.2020.2972858},
   }

2. Data-efficient Control from Images by Learning How to Use a Simple Model

   Thomas Power, and Dmitry Berenson

   In Machine Learning for Planning in Planning and Control of Robot Motion Workshop, ICRA , 2020