4 papers
An Adaptive, Parallel, and Inexact Newton Method for Large-scale Nonlinear Optimal Control
Luke Bhan, Michael W. Mahoney, Sen Na
We design adaptive overlapping temporal decomposition (AOTD), a parallel sequential quadratic programming (SQP) method for long-horizon nonlinear optimal control problems (OCPs). A…
GridSFM: A Foundation Model for Solving AC Optimal Power Flow
Luke Bhan, Weiwei Yang, Margaret Capetz +1
We introduce GridSFM, a framework that combines a pretrained foundation model across grid topologies with physics-informed fine-tuning for solving AC Optimal Power Flow (AC-OPF) at…
Families of Control-Cost-Parametrized Inverse-Optimal Universal Stabilizers
Miroslav Krstic, Luke Bhan
A classical universal stabilization formula offers the practitioner no design freedom: it is a single, parameter-free object. We introduce a cost-parametrized family of stabilizing…
Concurrent Policy Blending and System Identification for Generalized Assistive Control
Luke Bhan, Marcos Quinones-Grueiro, Gautam Biswas
In this work, we address the problem of solving complex collaborative robotic tasks subject to multiple varying parameters. Our approach combines simultaneous policy blending with…