William D. Compton

17 papers A* 2A 1C 1Journal 11Unranked 2
YearRankTypeTitle / Venue / Authors
2026 J jnl
Chasing Autonomy: Dynamic Retargeting and Control Guided RL for Performant and Controllable Humanoid Running.
CoRR
Zachary Olkin, William D. Compton, Ryan M. Bena, Aaron D. Ames
2026 J jnl
Walk the PLANC: Physics-Guided RL for Agile Humanoid Locomotion on Constrained Footholds.
CoRR
Min Dai, William D. Compton, Junheng Li, Lizhi Yang, Aaron D. Ames
2025 J jnl
Chasing Stability: Humanoid Running via Control Lyapunov Function Guided Reinforcement Learning.
CoRR
Zachary Olkin, Kejun Li, William D. Compton, Aaron D. Ames
2025 A* conf
Dynamic Tube MPC: Learning Tube Dynamics with Massively Parallel Simulation for Robust Safety in Practice.
ICRA
William D. Compton, Noel Csomay-Shanklin, Cole Johnson, Aaron D. Ames
2025 A* conf
Dynamically Feasible Path Planning in Cluttered Environments via Reachable BéZier Polytopes.
ICRA
Noel Csomay-Shanklin, William D. Compton, Aaron D. Ames
2025 — conf
Learning for Layered Safety-Critical Control with Predictive Control Barrier Functions.
L4DC
William D. Compton, Max H. Cohen, Aaron D. Ames
2025 C conf
Safety-Critical Controller Synthesis with Reduced-Order Models.
ACC
Max H. Cohen, Noel Csomay-Shanklin, William D. Compton, Tamás G. Molnár, Aaron D. Ames
2024 J jnl
A Contract Theory for Layered Control Architectures.
CoRR
Manuel Mazo Jr., William D. Compton, Max H. Cohen, Aaron D. Ames
2024 — conf
Constructive Nonlinear Control of Underactuated Systems via Zero Dynamics Policies.
CDC
William D. Compton, Ivan Dario Jimenez Rodriguez, Noel Csomay-Shanklin, Yisong Yue, Aaron D. Ames
2024 J jnl
Constructive Nonlinear Control of Underactuated Systems via Zero Dynamics Policies.
CoRR
William D. Compton, Ivan Dario Jimenez Rodriguez, Noel Csomay-Shanklin, Yisong Yue, Aaron D. Ames
2024 J jnl
Dynamic Tube MPC: Learning Tube Dynamics with Massively Parallel Simulation for Robust Safety in Practice.
CoRR
William D. Compton, Noel Csomay-Shanklin, Cole Johnson, Aaron D. Ames
2024 J jnl
Dynamically Feasible Path Planning in Cluttered Environments via Reachable Bezier Polytopes.
CoRR
Noel Csomay-Shanklin, William D. Compton, Aaron D. Ames
2024 J jnl
Learning for Layered Safety-Critical Control with Predictive Control Barrier Functions.
CoRR
William D. Compton, Max H. Cohen, Aaron D. Ames
2024 A conf
Robust Agility via Learned Zero Dynamics Policies.
IROS
Noel Csomay-Shanklin, William D. Compton, Ivan Dario Jimenez Rodriguez, Eric R. Ambrose, Yisong Yue, Aaron D. Ames
2024 J jnl
Robust Agility via Learned Zero Dynamics Policies.
CoRR
Noel Csomay-Shanklin, William D. Compton, Ivan Dario Jimenez Rodriguez, Eric R. Ambrose, Yisong Yue, Aaron D. Ames
2024 J jnl
Safety-Critical Controller Synthesis with Reduced-Order Models.
CoRR
Max H. Cohen, Noel Csomay-Shanklin, William D. Compton, Tamás G. Molnár, Aaron D. Ames
2021 J jnl
Evaluation of Continuous Walking Speed Determination Algorithms and Embedded Sensors for a Powered Knee & Ankle Prosthesis.
IEEE Robotics Autom. Lett.
Krishan Bhakta, Jonathan Camargo, William D. Compton, Kinsey Herrin, Aaron J. Young