Hopper ZDP Dynamic Tube MPC Predictive Control Barrier Functions Zero Dynamics Policies Hopper ZDP Dynamic Tube MPC Predictive Control Barrier Functions Zero Dynamics Policies

Will Compton

Robotics, Control, Machine Learning. Research at Caltech.

Welcome!

I'm Will Compton, a PhD candidate in Control and Dynamical Systems at Caltech. I work on control theory, machine learning, and robotics, with a focus on agile, dynamic locomotion. Below, you’ll find my latest papers and blog posts.

Research Papers and Blog Posts

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

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

Conference on Learning for Decisions and Control 2025

Posted by Will Compton on December 11, 2024

Research   Hopper

Dynamic Tube MPC - Learning Tube Dynamics using Massively Parallel Simulation for Robust Practical Safety

 Dynamic Tube MPC - Learning Tube Dynamics using Massively Parallel Simulation for Robust Practical Safety

International Conference on Robotics and Automation 2025

Posted by Will Compton on September 15, 2024

Research   Hopper

Constructive Control of Underactuated Systems via Zero Dynamics Policies

 Constructive Control of Underactuated Systems via Zero Dynamics Policies

Control and Decisions Conference 2024

Posted by Will Compton on April 10, 2024

Research   Control

Robust Agility via Learned Zero Dynamics Policies

 Robust Agility via Learned Zero Dynamics Policies

International Conference on Intelligent Robots and Systems 2024

Posted by Will Compton on April 10, 2024

Research   Hopper

Caltech Control and Dynamical Systems Qualifying Exams

 Caltech Control and Dynamical Systems Qualifying Exams

Content and Preparation

Posted by Will Compton on April 10, 2023

Exams   References