2 papers
cs.RO2024
Transformer-Based Model Predictive Path Integral Control
Shrenik Zinage, Vrushabh Zinage, Efstathios Bakolas
This paper presents a novel approach to improve the Model Predictive Path Integral (MPPI) control by using a transformer to initialize the mean control sequence. Traditional MPPI m…
eess.SY2021
Deep Reinforcement Learning Based Controller for Active Heave Compensation
Shrenik Zinage, Abhilash Somayajula
Heave compensation is an essential part in various offshore operations. It is used in various applications, which include on-loading or off-loading systems, offshore drilling, land…