From the 1 of 8 linked papers with an AI index.
8 papers
WarpMPC: Large-Batch MPC on GPU via ADMM with Unrolled Factorization
Henrik Hose, Se Hwan Jeon, Charles Khazoom +2
The paper introduces WarpMPC, a GPU‑accelerated toolbox that speeds up large‑batch model predictive control by unrolling sparse LDLᵀ factorizations within an ADMM solver, achieving…
Uncertainty-Aware Predictive Safety Filters for Probabilistic Neural Network Dynamics
Bernd Frauenknecht, Lukas Kesper, Daniel Mayfrank +2
Predictive safety filters (PSFs) leverage model predictive control to enforce constraint satisfaction during deep reinforcement learning (RL) exploration, yet their reliance on fir…
Learning to Race in Minutes: Infoprop Dyna on the Mini Wheelbot
Devdutt Subhasish, Henrik Hose, Sebastian Trimpe
Reinforcement Learning (RL) has the potential to enable robots with fast, nonlinear, and unstable dynamics to reach the limits of their performance. However, most recent advances r…
The Mini Wheelbot Dataset: High-Fidelity Data for Robot Learning
Henrik Hose, Paul Brunzema, Devdutt Subhasish +1
The development of robust learning-based control algorithms for unstable systems requires high-quality, real-world data, yet access to specialized robotic hardware remains a signif…
Fine-Tuning of Neural Network Approximate MPC without Retraining via Bayesian Optimization
Henrik Hose, Paul Brunzema, Alexander von Rohr +3
Approximate model-predictive control (AMPC) aims to imitate an MPC's behavior with a neural network, removing the need to solve an expensive optimization problem at runtime. Howeve…
The Mini Wheelbot: A Testbed for Learning-based Balancing, Flips, and Articulated Driving
Henrik Hose, Jan Weisgerber, Sebastian Trimpe
The Mini Wheelbot is a balancing, reaction wheel unicycle robot designed as a testbed for learning-based control. It is an unstable system with highly nonlinear yaw dynamics, non-h…