**Consortium:** Riccardo Bonalli (**Project Investigator**), CNRS and Université Paris-Saclay; Brandon Amos; Alessio Iovine, CNRS and Université Paris-Saclay; Marco Pavone, Stanford University.

**Goal:** this ANR JCJC project aims at developing both original **reinforcement learning techniques to design reliable control models** and novel **stochastic optimal control tools to tackle non-convex risk-averse stochastic optimal control problems**. The ultimate objective is to leverage and combine such new methods to devise a reliable and scalable algorithm called ROCH, for efficient and **safe-against-uncertainty deployment of autonomous systems**.

**Collaborators:**

- Luc Brogat-Motte, Postdoctoral Scholar at Inria Paris and Université Paris-Saclay.

**Publications:**

- A. C. Morelli, C. Giordano,
**R. Bonalli**, and F. Topputo,*Characterization of Singular Arcs in Spacecraft Trajectory Optimization*. Submitted. Pdf file. - G. Velho, J. Auriol, and
**R. Bonalli**,*A Gradient Descent-Ascent Method for Continuous-Time Risk-Averse Optimal Control*. Submitted. Pdf file. **R. Bonalli**and A. Rudi,*Non-Parametric Learning of Stochastic Differential Equations with Fast Rates of Convergence*. Submitted. Pdf file.- C. Leparoux,
**R. Bonalli**, B. Hérissé, and F. Jean,*Statistical Linearization for Robust Motion Planning*. Submitted. Pdf file. - T. Lew,
**R. Bonalli**, and M. Pavone,*Sample Average Approximation for Stochastic Programming with Equality Constraints*. Submitted. Pdf file. - T. Lew,
**R. Bonalli**, and M. Pavone,*Risk-Averse Trajectory Optimization via Sample Average Approximation*. Accepted in**IEEE Robotics and Automation Letters**. Pdf file. **R. Bonalli**, C. Leparoux, B. Hérissé, and F. Jean,*On the Accessibility and Controllability of Statistical Linearization for Stochastic Control: Algebraic Rank Conditions and their Genericity*.**Mathematical Control and Related Fields**, Early Access (2023). Pdf file.- G. Velho,
**R. Bonalli**, J. Auriol, and I. Boussaada,*Mean-Covariance Steering of a Linear Stochastic System with Input Delay and Additive Noise*. Submitted. Pdf file.