45 citations · 68 across the 28 of their papers we have counts for
3 papers · 2 filters
Transformer-Based Model Predictive Path Integral Control
Shrenik Zinage, Vrushabh Zinage, Efstathios Bakolas
This paper presents a novel approach to improve the Model Predictive Path Integral (MPPI) control by using a transformer to initialize the mean control sequence. Traditional MPPI m…
Decentralized Safe and Scalable Multi-Agent Control under Limited Actuation
Vrushabh Zinage, Abhishek Jha, Rohan Chandra +1
To deploy safe and agile robots in cluttered environments, there is a need to develop fully decentralized controllers that guarantee safety, respect actuation limits, prevent deadl…
TransformerMPC: Accelerating Model Predictive Control via Transformers
Vrushabh Zinage, Ahmed Khalil, Efstathios Bakolas
In this paper, we address the problem of reducing the computational burden of Model Predictive Control (MPC) for real-time robotic applications. We propose TransformerMPC, a method…