2 papers
cs.RO2026
Actuator Reality Shaping for Zero-Shot Sim-to-Real Robot Learning
Satoshi Yamamori, Koji Ishihara, Kenjiro Minamikawa +4
Sim-to-real transfer in robot learning is often limited by discrepancies between the ideal actuator dynamics assumed during policy training and the nonlinear, hardware-dependent be…
cs.RO2024
Goal-Conditioned Terminal Value Estimation for Real-time and Multi-task Model Predictive Control
Mitsuki Morita, Satoshi Yamamori, Satoshi Yagi +2
While MPC enables nonlinear feedback control by solving an optimal control problem at each timestep, the computational burden tends to be significantly large, making it difficult t…