William D. Compton

According to our database, William D. Compton authored at least 11 papers between 2021 and 2026.

Collaborative distances:

• Dijkstra number of five.
• Erdős number of four.

2026

Chasing Autonomy: Dynamic Retargeting and Control Guided RL for Performant and Controllable Humanoid Running.

Zachary Olkin, William D. Compton, Ryan M. Bena, Aaron D. Ames

CoRR, March, 2026

Walk the PLANC: Physics-Guided RL for Agile Humanoid Locomotion on Constrained Footholds.

Min Dai, William D. Compton, Junheng Li, Lizhi Yang, Aaron D. Ames

CoRR, January, 2026

2025

Chasing Stability: Humanoid Running via Control Lyapunov Function Guided Reinforcement Learning.

Zachary Olkin, Kejun Li, William D. Compton, Aaron D. Ames

CoRR, September, 2025

Learning for Layered Safety-Critical Control with Predictive Control Barrier Functions.

William D. Compton, Max H. Cohen, Aaron D. Ames

Proceedings of the 7th Annual Learning for Dynamics & Control Conference, 2025

Dynamically Feasible Path Planning in Cluttered Environments via Reachable BéZier Polytopes.

Noel Csomay-Shanklin, William D. Compton, Aaron D. Ames

Proceedings of the IEEE International Conference on Robotics and Automation, 2025

Dynamic Tube MPC: Learning Tube Dynamics with Massively Parallel Simulation for Robust Safety in Practice.

William D. Compton, Noel Csomay-Shanklin, Cole Johnson, Aaron D. Ames

Proceedings of the IEEE International Conference on Robotics and Automation, 2025

Safety-Critical Controller Synthesis with Reduced-Order Models.

Max H. Cohen, Noel Csomay-Shanklin, William D. Compton, Tamás G. Molnár, Aaron D. Ames

Proceedings of the 2025 American Control Conference, 2025

2024

A Contract Theory for Layered Control Architectures.

Manuel Mazo Jr., William D. Compton, Max H. Cohen, Aaron D. Ames

CoRR, 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

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024

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

Proceedings of the 63rd IEEE Conference on Decision and Control, 2024

2021

Evaluation of Continuous Walking Speed Determination Algorithms and Embedded Sensors for a Powered Knee & Ankle Prosthesis.

Krishan Bhakta, Jonathan Camargo, William D. Compton, Kinsey Herrin, Aaron J. Young

IEEE Robotics Autom. Lett., 2021