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ORCIDThomas Lew
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Journal Articles
- 2024
[j6]Thomas Lew
, Riccardo Bonalli, Marco Pavone:
Risk-Averse Trajectory Optimization via Sample Average Approximation. IEEE Robotics Autom. Lett. 9(2): 1500-1507 (2024)- [j5]Thomas Lew, Riccardo Bonalli, Marco Pavone:
Sample Average Approximation for Stochastic Programming with Equality Constraints. SIAM J. Optim. 34(4): 3506-3533 (2024) - 2023
- [j4]Riccardo Bonalli, Thomas Lew, Marco Pavone:
Analysis of Theoretical and Numerical Properties of Sequential Convex Programming for Continuous-Time Optimal Control. IEEE Trans. Autom. Control. 68(8): 4570-4585 (2023) - 2022
- [j3]Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey A. Edlund, Muhammad Fadhil Ginting, Kamak Ebadi, Matthew Anderson, Torkom Pailevanian, Edward Terry, Michael T. Wolf, Andrea Tagliabue, Tiago Vaquero, Matteo Palieri, Scott Tepsuporn, Yun Chang, Arash Kalantari, Fernando Chavez, Brett Thomas Lopez, Nobuhiro Funabiki, Gregory Miles, Thomas Touma, Alessandro Buscicchio, Jesus Tordesillas, Nikhilesh Alatur, Jeremy Nash, William Walsh, Sunggoo Jung, Hanseob Lee, Christoforos Kanellakis, John Mayo, Scott Harper, Marcel Kaufmann, Anushri Dixit, Gustavo Correa, Carlyn Lee, Jay Gao, Gene Merewether, Jairo Maldonado-Contreras, Gautam Salhotra, Maíra Saboia da Silva, Benjamin Ramtoula, Seyed Abolfazl Fakoorian, Alexander Hatteland, Taeyeon Kim, Tara Bartlett, Alex Stephens, Leon Kim, Chuck Bergh, Eric Heiden, Thomas Lew, Abhishek Cauligi, Tristan Heywood, Andrew Kramer, Henry A. Leopold, Hovhannes Melikyan, Hyungho Chris Choi, Shreyansh Daftry, Olivier Toupet, Inhwan Wee, Abhishek Thakur, Micah Feras, Giovanni Beltrame, George Nikolakopoulos, David Hyunchul Shim, Luca Carlone, Joel Burdick:
NeBula: TEAM CoSTAR's Robotic Autonomy Solution that Won Phase II of DARPA Subterranean Challenge. Field Robotics 2(1): 1432-1506 (2022) - [j2]Thomas Lew, Apoorva Sharma, James Harrison, Andrew Bylard, Marco Pavone:
Safe Active Dynamics Learning and Control: A Sequential Exploration-Exploitation Framework. IEEE Trans. Robotics 38(5): 2888-2907 (2022) - 2021
- [j1]Jan Schilliger, Thomas Lew, Spencer M. Richards, Severin Hänggi, Marco Pavone, Christopher Harald Onder:
Control Barrier Functions for Cyber-Physical Systems and Applications to NMPC. IEEE Robotics Autom. Lett. 6(4): 8623-8630 (2021)
Conference and Workshop Papers
- 2023
- [c9]Thomas Lew, Riccardo Bonalli, Marco Pavone:
Exact Characterization of the Convex Hulls of Reachable Sets. CDC 2023: 52-59 - [c8]Thomas Lew, Sumeet Singh, Mario Prats, Jeffrey Bingham, Jonathan Weisz, Benjie Holson, Xiaohan Zhang, Vikas Sindhwani, Yao Lu, Fei Xia, Peng Xu, Tingnan Zhang, Jie Tan, Montserrat Gonzalez:
Robotic Table Wiping via Reinforcement Learning and Whole-body Trajectory Optimization. ICRA 2023: 7184-7190 - 2022
- [c7]Albert Wu, Thomas Lew, Kiril Solovey, Edward Schmerling, Marco Pavone:
Robust-RRT: Probabilistically-Complete Motion Planning for Uncertain Nonlinear Systems. ISRR 2022: 538-554 - [c6]Adam J. Thorpe, Thomas Lew, Meeko Oishi, Marco Pavone:
Data-Driven Chance Constrained Control using Kernel Distribution Embeddings. L4DC 2022: 790-802 - [c5]Thomas Lew, Lucas Janson, Riccardo Bonalli, Marco Pavone:
A Simple and Efficient Sampling-based Algorithm for General Reachability Analysis. L4DC 2022: 1086-1099 - 2020
- [c4]Thomas Lew, Marco Pavone:
Sampling-based Reachability Analysis: A Random Set Theory Approach with Adversarial Sampling. CoRL 2020: 2055-2070 - [c3]Thomas Lew, Riccardo Bonalli, Marco Pavone:
Chance-Constrained Sequential Convex Programming for Robust Trajectory Optimization. ECC 2020: 1871-1878 - 2019
- [c2]Thomas Lew, Tomoki Emmei, David D. Fan, Tara Bartlett, Angel Santamaria-Navarro, Rohan Thakker, Ali-akbar Agha-mohammadi:
Contact Inertial Odometry: Collisions are your Friends. ISRR 2019: 938-958 - [c1]Riccardo Bonalli, Abhishek Cauligi, Andrew Bylard, Thomas Lew, Marco Pavone:
Trajectory Optimization on Manifolds: A Theoretically-Guaranteed Embedded Sequential Convex Programming Approach. Robotics: Science and Systems 2019
Informal and Other Publications
- 2023
- [i19]Thomas Lew, Riccardo Bonalli, Lucas Janson, Marco Pavone:
Estimating the convex hull of the image of a set with smooth boundary: error bounds and applications. CoRR abs/2302.13970 (2023) - [i18]Thomas Lew, Riccardo Bonalli, Marco Pavone:
Exact Characterization of the Convex Hulls of Reachable Sets. CoRR abs/2303.17674 (2023) - [i17]Thomas Lew, Riccardo Bonalli, Marco Pavone:
Risk-Averse Trajectory Optimization via Sample Average Approximation. CoRR abs/2307.03167 (2023) - 2022
- [i16]Adam J. Thorpe, Thomas Lew, Meeko M. K. Oishi, Marco Pavone:
Data-Driven Chance Constrained Control using Kernel Distribution Embeddings. CoRR abs/2202.04193 (2022) - [i15]Albert Wu, Thomas Lew, Kiril Solovey, Edward Schmerling, Marco Pavone:
Robust-RRT: Probabilistically-Complete Motion Planning for Uncertain Nonlinear Systems. CoRR abs/2205.07728 (2022) - [i14]Thomas Lew, Riccardo Bonalli, Marco Pavone:
Sample Average Approximation for Stochastic Programming with Equality Constraints. CoRR abs/2206.09963 (2022) - [i13]Thomas Lew, Sumeet Singh, Mario Prats, Jeffrey Bingham, Jonathan Weisz, Benjie Holson, Xiaohan Zhang, Vikas Sindhwani, Yao Lu, Fei Xia, Peng Xu, Tingnan Zhang, Jie Tan, Montserrat Gonzalez:
Robotic Table Wiping via Reinforcement Learning and Whole-body Trajectory Optimization. CoRR abs/2210.10865 (2022) - [i12]Rohan Sinha, Apoorva Sharma, Somrita Banerjee, Thomas Lew, Rachel Luo, Spencer M. Richards, Yixiao Sun, Edward Schmerling, Marco Pavone:
A System-Level View on Out-of-Distribution Data in Robotics. CoRR abs/2212.14020 (2022) - 2021
- [i11]Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey A. Edlund, Muhammad Fadhil Ginting, Kamak Ebadi, Matthew Anderson, Torkom Pailevanian, Edward Terry, Michael T. Wolf, Andrea Tagliabue, Tiago Stegun Vaquero, Matteo Palieri, Scott Tepsuporn, Yun Chang, Arash Kalantari, Fernando Chavez, Brett Thomas Lopez, Nobuhiro Funabiki, Gregory Miles, Thomas Touma, Alessandro Buscicchio, Jesus Tordesillas, Nikhilesh Alatur, Jeremy Nash, William Walsh, Sunggoo Jung, Hanseob Lee, Christoforos Kanellakis, John Mayo, Scott Harper, Marcel Kaufmann, Anushri Dixit, Gustavo Correa, Carlyn Lee, Jay Gao, Gene Merewether, Jairo Maldonado-Contreras, Gautam Salhotra, Maíra Saboia da Silva, Benjamin Ramtoula, Yuki Kubo, Seyed Abolfazl Fakoorian, Alexander Hatteland, Taeyeon Kim, Tara Bartlett, Alex Stephens, Leon Kim, Chuck Bergh, Eric Heiden, Thomas Lew, Abhishek Cauligi, Tristan Heywood, Andrew Kramer, Henry A. Leopold, Hyungho Chris Choi, Shreyansh Daftry, Olivier Toupet, Inhwan Wee, Abhishek Thakur, Micah Feras, Giovanni Beltrame, George Nikolakopoulos, David Hyunchul Shim, Luca Carlone, Joel Burdick:
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge. CoRR abs/2103.11470 (2021) - [i10]Jan Schilliger, Thomas Lew, Spencer M. Richards, Severin Hänggi, Marco Pavone, Christopher Harald Onder:
Control Barrier Functions for Cyber-Physical Systems and Applications to NMPC. CoRR abs/2104.14250 (2021) - [i9]Danylo Malyuta, Taylor P. Reynolds, Michael Szmuk, Thomas Lew, Riccardo Bonalli, Marco Pavone, Behçet Açikmese:
Convex Optimization for Trajectory Generation. CoRR abs/2106.09125 (2021) - [i8]Thomas Lew, Apoorva Sharma, James Harrison, Edward Schmerling, Marco Pavone:
On the Problem of Reformulating Systems with Uncertain Dynamics as a Stochastic Differential Equation. CoRR abs/2111.06084 (2021) - [i7]Thomas Lew, Lucas Janson, Riccardo Bonalli, Marco Pavone:
A Simple and Efficient Sampling-based Algorithm for General Reachability Analysis. CoRR abs/2112.05745 (2021) - 2020
- [i6]Thomas Lew, Marco Pavone:
Sampling-based Reachability Analysis: A Random Set Theory Approach with Adversarial Sampling. CoRR abs/2008.10180 (2020) - [i5]Thomas Lew, Apoorva Sharma, James Harrison, Marco Pavone:
Safe Model-Based Meta-Reinforcement Learning: A Sequential Exploration-Exploitation Framework. CoRR abs/2008.11700 (2020) - [i4]Riccardo Bonalli, Thomas Lew, Marco Pavone:
Analysis of Theoretical and Numerical Properties of Sequential Convex Programming for Continuous-Time Optimal Control. CoRR abs/2009.05038 (2020) - [i3]Riccardo Bonalli, Thomas Lew, Marco Pavone:
Sequential Convex Programming For Non-Linear Stochastic Optimal Control. CoRR abs/2009.05182 (2020) - 2019
- [i2]Riccardo Bonalli, Andrew Bylard, Abhishek Cauligi, Thomas Lew, Marco Pavone:
Trajectory Optimization on Manifolds: A Theoretically-Guaranteed Embedded Sequential Convex Programming Approach. CoRR abs/1905.07654 (2019) - [i1]Thomas Lew, Tomoki Emmei, David D. Fan, Tara Bartlett, Angel Santamaria-Navarro, Rohan Thakker, Ali-akbar Agha-mohammadi:
Contact Inertial Odometry: Collisions are your Friend. CoRR abs/1909.00079 (2019)
Coauthor Index
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