Jake Welde

Jake Welde

PhD candidate in robotics working at the intersection of geometry, design, and control.

Leveraging Symmetry to Accelerate Learning of Trajectory Tracking Controllers

2025

Jake Welde*, Nishanth Rao*, Pratik Kunapuli*, Dinesh Jayaraman, and Vijay Kumar

* equal contribution

A preliminary version of this work won a Best Paper Award at the Workshop on Symmetry and Geometry in Neural Representations at NeurIPS 2024.

Relevant Publications

  1. "Leveraging Symmetry to Accelerate Learning of Trajectory Tracking Controllers for Free-Flying Robotic Systems",
    Jake Welde*, Nishanth Rao*, Pratik Kunapuli*, Dinesh Jayaraman, and Vijay Kumar.
    IEEE International Conference on Robotics and Automation (ICRA) - Accepted, 2025.