47 citations · 57 across the 14 of their papers we have counts for
3 papers · 1 filter
Adaptive Identification of Legged Robotic Kinematic Structure
Bolun Dai
Model-based control usually relies on an accurate model, which is often obtained from CAD and actuator models. The more accurate the model the better the control performance. Howev…
Learning Locomotion Controllers for Walking Using Deep FBSDE
Bolun Dai, Virinchi Roy Surabhi, Prashanth Krishnamurthy +1
In this paper, we propose a deep forward-backward stochastic differential equation (FBSDE) based control algorithm for locomotion tasks. We also include state constraints in the FB…
State Constrained Stochastic Optimal Control Using LSTMs
Bolun Dai, Prashanth Krishnamurthy, Andrew Papanicolaou +1
In this paper, we propose a new methodology for state constrained stochastic optimal control (SOC) problems. The solution is based on past work in solving SOC problems using forwar…