82 citations · 229 across the 29 of their papers we have counts for
4 papers · 1 filter
Differentiable Material Point Method for the Control of Deformable Objects
Diego Bolliger, Gabriele Fadini, Markus Bambach +1
Controlling the deformation of flexible objects is challenging due to their non-linear dynamics and high-dimensional configuration space. This work presents a differentiable Materi…
Bayesian Optimization for Automatic Tuning of Torque-Level Nonlinear Model Predictive Control
Gabriele Fadini, Deepak Ingole, Tong Duy Son +1
This paper presents an auto-tuning framework for torque-based Nonlinear Model Predictive Control (nMPC), where the MPC serves as a real-time controller for optimal joint torque com…
Guided Multi-Fidelity Bayesian Optimization for Data-driven Controller Tuning with Digital Twins
Mahdi Nobar, Jürg Keller, Alessandro Forino +2
We propose a \textit{guided multi-fidelity Bayesian optimization} framework for data-efficient controller tuning that integrates corrected digital twin simulations with real-world…
Iterative Learning Predictive Control for Constrained Uncertain Systems
Riccardo Zuliani, Efe C. Balta, Alisa Rupenyan +1
Iterative learning control (ILC) improves the performance of a repetitive system by learning from previous trials. ILC can be combined with Model Predictive Control (MPC) to mitiga…