Richard Cheng
Richard Cheng
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End-to-end safe reinforcement learning through barrier functions for safety-critical continuous control tasks
R Cheng, G Orosz, RM Murray, JW Burdick
Proceedings of the AAAI Conference on Artificial Intelligence 33 (01), 3387-3395, 2019
Control regularization for reduced variance reinforcement learning
R Cheng, A Verma, G Orosz, S Chaudhuri, Y Yue, J Burdick
International Conference on Machine Learning, 1141-1150, 2019
Dynamics and flight control of a flapping-wing robotic insect in the presence of wind gusts
P Chirarattananon, Y Chen, EF Helbling, KY Ma, R Cheng, RJ Wood
Interface focus 7 (1), 20160080, 2017
Safe multi-agent interaction through robust control barrier functions with learned uncertainties
R Cheng, MJ Khojasteh, AD Ames, JW Burdick
2020 59th IEEE Conference on Decision and Control (CDC), 777-783, 2020
Wind disturbance rejection for an insect-scale flapping-wing robot
P Chirarattananon, KY Ma, R Cheng, RJ Wood
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2015
Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits
M Tucker, M Cheng, E Novoseller, R Cheng, Y Yue, JW Burdick, AD Ames
arXiv preprint arXiv:2003.06495, 2020
Motor control after human sci through activation of muscle synergies under spinal cord stimulation
R Cheng, Y Sui, D Sayenko, JW Burdick
IEEE Transactions on Neural Systems and Rehabilitation Engineering 27 (6 …, 2019
Extraction of muscle synergies in spinal cord injured patients
R Cheng, JW Burdick
2018 40th Annual International Conference of the IEEE Engineering in …, 2018
Assuring Safety under Uncertainty in Learning-Based Control Systems
R Cheng
California Institute of Technology, 2021
Learning an Optimal Sampling Distribution for Efficient Motion Planning
R Cheng, K Shankar, JW Burdick
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2020
On Muscle Activation for Improving Robotic Rehabilitation after Spinal Cord Injury
R Cheng, Y Sui, D Sayenko, JW Burdick
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2018
Preference-Based Bayesian Optimization in High Dimensions with Human Feedback
M Cheng, E Novoseller, M Tucker, R Cheng, Y Yue, J Burdick
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