From the 1 of 4 linked papers with an AI index.
4 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…
Learning Reactive Dexterous Grasping via Hierarchical Task-Space RL Planning and Joint-Space QP Control
Ho Jae Lee, Yonghyeon Lee, Alexander Alexiev +3
In this work, we propose a hybrid hierarchical control framework for reactive dexterous grasping that explicitly decouples high-level spatial intent from low-level joint execution.…
Residual MPC: Blending Reinforcement Learning with GPU-Parallelized Model Predictive Control
Se Hwan Jeon, Ho Jae Lee, Seungwoo Hong +1
Model Predictive Control (MPC) provides interpretable, tunable locomotion controllers grounded in physical models, but its robustness depends on frequent replanning and is limited…
Learning Humanoid Arm Motion via Centroidal Momentum Regularized Multi-Agent Reinforcement Learning
Ho Jae Lee, Se Hwan Jeon, Sangbae Kim
Humans naturally swing their arms during locomotion to regulate whole-body dynamics, reduce angular momentum, and help maintain balance. Inspired by this principle, we present a li…