admm 1gpu acceleration 1large-batch optimization 1model predictive control 1sequential quadratic programming 1
From the 1 of 3 linked papers with an AI index.
3 papers
cs.RO2026
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…
cs.RO2025
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…
cs.RO2025
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…