Lekan Molu

Sampling Your Way Out of the Curse of Dimensionality This post is an exposition of the recent paper HJ-Gauss: A Monte Carlo HJ Reachability Scheme (Molu, Renganathan, Cho).

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This post accompanies my recent work, Visuomotor Diffusion Policies via Inverse PDEs (RoboDiff).

Denoising Diffusion Probabilistic Models, Jonathan Ho, Ajay Jain, Pieter Abbeel Diffusion Policy: Visuomotor Policy Learning via Action Diffusion, Cheng Chi, Zhenjia Xu, Siyuan Feng, Eric Cousineau, Yilun Du, Benjamin Burchfiel, Russ Tedrake 2,3, Shuran S…

Table of Contents Introduction Stability vs optimality Optimality Intro The question of the connection between optimality and stability is a curious thing.

Table of Contents Introduction Definitions, Theorems, Lemmas etc Nonlinear Control Theory Stability Intro Here are a few control theorems, concepts and diagrams that I think every control student should know.

This post includes curated links to advice on doing good research from people I respect.

Through the looking-glass, tired of working my brain out while familiarizing myself with a giant codebase I was reverse-engineering to prove a theory for an upcoming conference, I started asking myself why I was doing what I was doing?

This post deals with understanding the necessary and sufficient conditions, fundamental Lipschitz continuity assumptions and the terminal boundary conditions imposed on the Hamilton-Jacobi equation to assure that the problem of minimizing an integral perf…

This was my answer to a question posted in an email thread to our research group’s email lists.