From the 1 of 11 linked papers with an AI index.
11 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…
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…
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…
Approximate non-linear model predictive control with safety-augmented neural networks
Henrik Hose, Johannes Köhler, Melanie N. Zeilinger +1
Model predictive control (MPC) achieves stability and constraint satisfaction for general nonlinear systems, but requires computationally expensive online optimization. This paper…
MPX: Mixed Precision Training for JAX
Alexander Gräfe, Sebastian Trimpe
Mixed-precision training has emerged as an indispensable tool for enhancing the efficiency of neural network training in recent years. Concurrently, JAX has grown in popularity as…
RockNet: Distributed Learning on Ultra-Low-Power Devices
Alexander Gräfe, Fabian Mager, Marco Zimmerling +1
As Machine Learning (ML) becomes integral to Cyber-Physical Systems (CPS), there is growing interest in shifting training from traditional cloud-based to on-device processing (Tiny…