Author

Joseph L. Moore

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Preprint Sep 2026

RL-Guided PAC-NMPC for Probabilistically-Safe Perception-Based Navigation in Unknown Environments

In this paper, we present an approach for combining stochastic nonlinear model predictive control (SNMPC) and reinforcement learning (RL) to enable probabilistically-safe perception-based navigation in unknown environments. Our method first uses RL to train probabilistic actor-critic and sensor prediction models. We th...

A. Polevoy, Dillon Capalongo, Katherine Tang et al. · 0 citations

Preprint Aug 2026

Stochastic Multiple Shooting Trajectory Optimization via Sequential Local Policy Evaluation

This paper presents a stochastic multiple shooting method that optimizes short control action sequences connected via local feedback policies to improve sample efficiency and convergence to a terminal set and demonstrates the algorithm has improved sample efficiency and terminal set convergence for three nonlinear, und...

Ashwin Gupta, Joseph L. Moore · 1 citation