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luis-marques committed Sep 7, 2024
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2 changes: 2 additions & 0 deletions .gitignore
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.DS_Store
/public
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6 changes: 2 additions & 4 deletions config.toml
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base_url = "https://um-arm-lab.github.io/lucca"
base_url = "https://um-arm-lab.github.io"
compile_sass = true
build_search_index = false
generate_feeds = false
minify_html = true
minify_html = false

[markdown]
highlight_code = true
highlight_theme = "css"
smart_punctuation = true

[extra]
favicon = false
large_card = true
footer_text = "This website is built using [Zola](https://www.getzola.org) and the [Academic Paper](http://github.com/aterenin/academic-paper/) theme, which is [designed to last](https://jeffhuang.com/designed_to_last/)."
server_side_katex = true
2 changes: 1 addition & 1 deletion content/_index.md
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&emsp; *Dynamics, (2)*: The real system evolves following the unknown stochastic dynamics `$f$`. We only have access to an approximation `$\tilde f$` and the inference transitions in `$D_{cal}$`.<br>
&emsp; *Safety, (3)*: Our trajectory should remain probabilistically safe, which we define as requiring it to lie within a safe set `$\mathscr C$` with at least a user-specified probability. This is difficult to guarantee in general for any `$f$` and `$\tilde f$`, since our approximation can be arbitrarily wrong in deployment conditions. <br>
&emsp;*State and Control Admissibility, (4)*: Both the control inputs and the states must belong to pre-defined sets. <br>
&emsp;*Objective Function, (1)*: Additionally, we aim to achieve optimality relative to an objective that incorporates `$\mathcal G$` along with the state and control sequences, `$s := (s_{t+1},\ldots, s_{t+H})$` and `$u := (u_{t},\ldots,u_{t+H-1})$`. For example, $J$ might minimize the expectation of a distance metric to `$\mathcal G$`, control effort, or epistemic-uncertainty along the state-control sequences.
&emsp;*Objective Function, (1)*: Additionally, we aim to achieve optimality relative to an objective that incorporates `$\mathcal G$` along with the state and control sequences, `$s := (s_{t+1},\ldots, s_{t+H})$` and `$u := (u_{t},\ldots,u_{t+H-1})$`. For example, `$J$` might minimize the expectation of a distance metric to `$\mathcal G$`, control effort, or epistemic-uncertainty along the state-control sequences.

# LUCCA

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3 changes: 3 additions & 0 deletions readme.md
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# LUCCa

Visit the website for more information about this project published in WAFR 2024: [https://um-arm-lab.github.io/lucca](https://um-arm-lab.github.io/lucca).
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Submodule academic-paper deleted from d46d5d

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