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cs.RO2025
Fast Non-Episodic Adaptive Tuning of Robot Controllers with Online Policy Optimization
James A. Preiss, Fengze Xie, Yiheng Lin +2
We study online algorithms to tune the parameters of a robot controller in a setting where the dynamics, policy class, and optimality objective are all time-varying. The system fol…
math.OC2025
Maximizing the Value of Predictions in Control: Accuracy Is Not Enough
Yiheng Lin, Christopher Yeh, Zaiwei Chen +1
We study the value of stochastic predictions in online optimal control with random disturbances. Prior work provides performance guarantees based on prediction error but ignores th…