Differentiable MPC for End-to-end Planning and Control. - Brandon Amos; Ivan Dario Jimenez Rodriguez; Jacob Sacks; Byron Boots; J. Zico Kolter (NeurIPS, 2018)

Interpretable Reinforcement Learning via Differentiable Decision Trees. - Ivan Dario Jimenez Rodriguez; Taylor W. Killian; Sung-Hyun Son; Matthew C. Gombolay (CoRR, 2019)

Learning to Control an Unstable System with One Minute of Data: Leveraging Gaussian Process Differentiation in Predictive Control. - Ivan D. Jimenez Rodriguez; Ugo Rosolia; Aaron D. Ames; Yisong Yue (IROS, 2021)

Learning Unstable Dynamics with One Minute of Data: A Differentiation-based Gaussian Process Approach. - Ivan D. Jimenez Rodriguez; Ugo Rosolia; Aaron D. Ames; Yisong Yue (CoRR, 2021)

LyaNet: A Lyapunov Framework for Training Neural ODEs. - Ivan Dario Jimenez Rodriguez; Aaron D. Ames; Yisong Yue (ICML, 2022)

Self-Supervised Online Learning for Safety-Critical Control using Stereo Vision. - Ryan K. Cosner; Ivan D. Jimenez Rodriguez; Tamás G. Molnár; Wyatt Ubellacker; Yisong Yue; Aaron D. Ames; Katherine L. Bouman (ICRA, 2022)

Safe Drone Flight with Time-Varying Backup Controllers. - Andrew Singletary; Aiden Swann; Ivan Dario Jimenez Rodriguez; Aaron D. Ames (IROS, 2022)

Neural Gaits: Learning Bipedal Locomotion via Control Barrier Functions and Zero Dynamics Policies. - Ivan Dario Jimenez Rodriguez; Noel Csomay-Shanklin; Yisong Yue; Aaron D. Ames (L4DC, 2022)

FI-ODE: Certified and Robust Forward Invariance in Neural ODEs. - Yujia Huang; Ivan Dario Jimenez Rodriguez; Huan Zhang 001; Yuanyuan Shi; Yisong Yue (CoRR, 2022)

Constructive Nonlinear Control of Underactuated Systems via Zero Dynamics Policies. - William D. Compton; Ivan Dario Jimenez Rodriguez; Noel Csomay-Shanklin; Yisong Yue; Aaron D. Ames (CDC, 2024)

Robust Agility via Learned Zero Dynamics Policies. - Noel Csomay-Shanklin; William D. Compton; Ivan Dario Jimenez Rodriguez; Eric R. Ambrose; Yisong Yue; Aaron D. Ames (IROS, 2024)