23 citations · 24 across the 7 of their papers we have counts for
Showing 2024Show all
2 papers · 1 filter
cs.RO2024
CusADi: A GPU Parallelization Framework for Symbolic Expressions and Optimal Control
Se Hwan Jeon, Seungwoo Hong, Ho Jae Lee +2
The parallelism afforded by GPUs presents significant advantages in training controllers through reinforcement learning (RL). However, integrating model-based optimization into thi…
cs.RO2024
Learning Emergent Gaits with Decentralized Phase Oscillators: on the role of Observations, Rewards, and Feedback
Jenny Zhang, Steve Heim, Se Hwan Jeon +1
We present a minimal phase oscillator model for learning quadrupedal locomotion. Each of the four oscillators is coupled only to itself and its corresponding leg through local feed…