most citedPrimal-Dual iLQR for GPU-Accelerated Learning and Control in Legged Robots

4 citations

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2 papers

astro-ph.IM2026

Charge Migration and Residual Non-Linearity in NIRSpec BOTS Observations

Munazza K. Alam, Leonardo Ubeda, Qinyan +3

We investigate the effect of charge migration and residual non-linearity on the JWST/NIRSpec G395H NRS1 and NRS2 detectors using Bright Object Time Series (BOTS) observations of th…

cs.RO2025★ 4 cited

Primal-Dual iLQR for GPU-Accelerated Learning and Control in Legged Robots

Lorenzo Amatucci, João Sousa-Pinto, Giulio Turrisi +3

This paper introduces a novel Model Predictive Control (MPC) implementation for legged robot locomotion that leverages GPU parallelization. Our approach enables both temporal and s…