I am a PhD student at California Institute of Technology (Caltech) in the department of Computing and Mathematical Sciences (CMS), where I am a Kortschak Scholar. I work with Professor Yisong Yue on generative modeling, computational geometry, and robotics, and control.

Publications

• Conformal Generative Modeling on Triangulated Surfaces
  Victor Dorobantu, Charlotte Borcherds, Yisong Yue
  Preprint.
  [project] [arxiv] [github]
• Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors
  Noel Csomay-Shanklin, Victor D. Dorobantu, Aaron D. Ames
  Appearing at IEEE International Conference on Robotics and Automation (ICRA).
  [arxiv] [video] [github]
• Compactly Restrictable Metric Policy Optimization Problems
  Victor D. Dorobantu, Kamyar Azizzadenesheli, Yisong Yue
  Appearing in IEEE Transactions on Automatic Control (TAC).
  [arxiv]
• Safety of Sampled-data Systems with Control Barrier Functions via Approximate Discrete Time Models
  Andrew J. Taylor*, Victor D. Dorobantu*, Ryan K. Cosner*, Yisong Yue, Aaron Ames
  IEEE Conference on Decision and Control (CDC), December 2022.
  [arxiv] [video] [colab]
• Towards Robust Data-Driven Control Synthesis for Nonlinear Systems with Acutation Uncertainty
  Andrew J. Taylor*, Victor D. Dorobantu*, Sarah Dean*, Benjamin Recht, Yisong Yue, Aaron D. Ames
  IEEE Conference on Decision and Control (CDC), December 2021.
  [arxiv]
• Sampled-data Stabilization with Control Lyapunov Functions via Quadratically Constrained Quadratic Programs
  Andrew J. Taylor*, Victor D. Dorobantu*, Yisong Yue, Paulo Tabuada, Aaron D. Ames
  IEEE Control Systems Letters, June 2021.
  [arxiv] [colab]
• A Control Lyapunov Perspective on Episodic Learning via Projection to State Stability
  Andrew J. Taylor*, Victor D. Dorobantu*, Meera Krishnamoorthy, Hoang M. Le, Yisong Yue, Aaron D. Ames
  IEEE Conference on Decision and Control (CDC), December 2019.
  [arxiv]
• Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems
  Andrew J. Taylor*, Victor D. Dorobantu*, Hoang M. Le, Yisong Yue, Aaron D. Ames
  International Conference on Intelligent Robots and Systems (IROS), November 2019.
  [arxiv]