Mohammad Hasan Yeganegi

arXiv2026

PAC-DP: PAC-Bayesian Diffusion Policy Learning

Diffusion Policies (DPs) are able to perform complex manipulation tasks. However, DPs are typically trained by minimizing a denoising objective, which provides limited control over generalization in the finite-data regimes common in robotics. In this letter, we propose PAC-DP, an approach that increases the performance of DPs in robotic manipulation tasks. By modeling the DP as a Bayesian neural network, and defining a PAC-Bayes generalization bound, we derive a novel training objective that augments the standard denoising loss with a Kullback-Leibler divergence regularizer between the posterior and prior parameter distributions. From the theoretical perspective, our approach provides a principled approach to regularize the training of DPs without significantly increasing the training time. From the practical point of view, experimental results demonstrate improved denoising performance, lower variational negative log-likelihood, and higher success rates across multiple robotic manipulation benchmarks. Crucially, the largest improvements are observed in low-data training regimes and complex tasks, establishing PAC-DP as a theoretically grounded framework for robot policy learning.

cs.RO↗

arXiv2021

Robust walking based on MPC with viability guarantees

Model predictive control (MPC) has shown great success for controlling complex systems such as legged robots. However, when closing the loop, the performance and feasibility of the finite horizon optimal control problem (OCP) solved at each control cycle is not guaranteed anymore. This is due to model discrepancies, the effect of low-level controllers, uncertainties and sensor noise. To address these issues, we propose a modified version of a standard MPC approach used in legged locomotion with viability (weak forward invariance) guarantees. In this approach, instead of adding a (conservative) terminal constraint to the problem, we propose to use the measured state projected to the viability kernel in the OCP solved at each control cycle. Moreover, we use past experimental data to find the best cost weights, which measure a combination of performance, constraint satisfaction robustness, or stability (invariance). These interpretable costs measure the trade off between robustness and performance. For this purpose, we use Bayesian optimization (BO) to systematically design experiments that help efficiently collect data to learn a cost function leading to robust performance. Our simulation results with different realistic disturbances (i.e. external pushes, unmodeled actuator dynamics and computational delay) show the effectiveness of our approach to create robust controllers for humanoid robots.

cs.RO↗

arXiv2019

Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning

Trajectory optimization (TO) is one of the most powerful tools for generating feasible motions for humanoid robots. However, including uncertainties and stochasticity in the TO problem to generate robust motions can easily lead to intractable problems. Furthermore, since the models used in TO have always some level of abstraction, it can be hard to find a realistic set of uncertainties in the model space. In this paper we leverage a sample-efficient learning technique (Bayesian optimization) to robustify TO for humanoid locomotion. The main idea is to use data from full-body simulations to make the TO stage robust by tuning the cost weights. To this end, we split the TO problem into two phases. The first phase solves a convex optimization problem for generating center of mass (CoM) trajectories based on simplified linear dynamics. The second stage employs iterative Linear-Quadratic Gaussian (iLQG) as a whole-body controller to generate full body control inputs. Then we use Bayesian optimization to find the cost weights to use in the first stage that yields robust performance in the simulation/experiment, in the presence of different disturbance/uncertainties. The results show that the proposed approach is able to generate robust motions for different sets of disturbances and uncertainties.

cs.RO↗

arXiv2019

Trajectory Optimization for Robust Humanoid Locomotion with Sample-Efficient Learning

Trajectory optimization (TO) is one of the most powerful tools for generating feasible motions for humanoid robots. However, including uncertainties and stochasticity in the TO problem to generate robust motions can easily lead to an interactable problem. Furthermore, since the models used in the TO have always some level of abstraction, it is hard to find a realistic set of uncertainty in the space of abstract model. In this paper we aim at leveraging a sample-efficient learning technique (Bayesian optimization) to robustify trajectory optimization for humanoid locomotion. The main idea is to use Bayesian optimization to find the optimal set of cost weights which compromises performance with respect to robustness with a few realistic simulation/experiment. The results show that the proposed approach is able to generate robust motions for different set of disturbances and uncertainties.

cs.RO↗