Projects
Here are some articles I (co)authored showcasing some of the projects I worked on.

Research
I'm interested in optimization, robotics, optimization, and
machine learning. My research is about creating new
models and algorithms for robotic systems that exploit known
structure of the problem.


Learning Deep SDF Maps Online for Robot Navigation and Exploration
Gadiel Sznaier Camps, Robert Dyro, Marco Pavone, Mac Schwager
arXiv, 2022
Optimal planning & control in new environments can be done effectively by learning deep signed distance function (SDF) maps from LiDAR data.


SecondOrder Sensitivity Analysis for Bilevel Optimization
Robert Dyro, Edward Schmerling, Nikos Arechiga, Marco Pavone
Artificial Intelligence and Statistics (AISTATS), 2022
Differentiating through optimization can be done twice to obtain bilevel program Hessians.


Particle MPC for Uncertain and LearningBased Control
Robert Dyro, James Harrison, Apoorva Sharma, Marco Pavone
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021
Sampling arbitrary dynamical uncertainty and then optimization over the possibilities <em>jointly</em> gives safe realtime optimal control.

