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cs.RO2025
Diffusion-Based Approximate MPC: Fast and Consistent Imitation of Multi-Modal Action Distributions
Pau Marquez Julbe, Julian Nubert, Henrik Hose +2
Approximating model predictive control (MPC) using imitation learning (IL) allows for fast control without solving expensive optimization problems online. However, methods that use…
cs.RO2025★ 3 cited
The Mini Wheelbot: A Testbed for Learning-based Balancing, Flips, and Articulated Driving
Henrik Hose, Jan Weisgerber, Sebastian Trimpe
The Mini Wheelbot is a balancing, reaction wheel unicycle robot designed as a testbed for learning-based control. It is an unstable system with highly nonlinear yaw dynamics, non-h…