593 citations · 845 across the 62 of their papers we have counts for
4 papers · 1 filter
Accelerating Quadratic Optimization with Reinforcement Learning
Jeffrey Ichnowski, Paras Jain, Bartolomeo Stellato +6
First-order methods for quadratic optimization such as OSQP are widely used for large-scale machine learning and embedded optimal control, where many related problems must be rapid…
Safe and Near-Optimal Policy Learning for Model Predictive Control using Primal-Dual Neural Networks
Xiaojing Zhang, Monimoy Bujarbaruah, Francesco Borrelli
In this paper, we propose a novel framework for approximating the explicit MPC law for linear parameter-varying systems using supervised learning. In contrast to most existing appr…
Safety Augmented Value Estimation from Demonstrations (SAVED): Safe Deep Model-Based RL for Sparse Cost Robotic Tasks
Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia +6
Reinforcement learning (RL) for robotics is challenging due to the difficulty in hand-engineering a dense cost function, which can lead to unintended behavior, and dynamical uncert…
Autonomous Racing using Learning Model Predictive Control
Ugo Rosolia, Ashwin Carvalho, Francesco Borrelli
A novel learning Model Predictive Control technique is applied to the autonomous racing problem. The goal of the controller is to minimize the time to complete a lap. The proposed…