CMP projects actions onto a learned competence manifold using a frame-wise safety scheme and isomorphic latent space to achieve up to 10x better survival in out-of-distribution scenarios with under 10% tracking loss.
Hamilton-jacobi reachability: A brief overview and recent advances
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CMP: Robust Whole-Body Tracking for Loco-Manipulation via Competence Manifold Projection
CMP projects actions onto a learned competence manifold using a frame-wise safety scheme and isomorphic latent space to achieve up to 10x better survival in out-of-distribution scenarios with under 10% tracking loss.