17 citations · 23 across the 10 of their papers we have counts for
5 papers · 1 filter
Task-Parameter Nexus: Task-Specific Parameter Learning for Model-Based Control
Sheng Cheng, Ran Tao, Yuliang Gu +3
This paper presents the Task-Parameter Nexus (TPN), a learning-based approach for online determination of the (near-)optimal control parameters of model-based controllers (MBCs) fo…
Autotuning Bipedal Locomotion MPC with GRFM-Net for Efficient Sim-to-Real Transfer
Qianzhong Chen, Junheng Li, Sheng Cheng +2
Bipedal locomotion control is essential for humanoid robots to navigate complex, human-centric environments. While optimization-based control designs are popular for integrating so…
Real-Time Linear MPC for Quadrotors on SE(3): An Analytical Koopman-based Realization
Santosh M. Rajkumar, Chengyu Yang, Yuliang Gu +3
This letter presents an analytical linear parameter-varying (LPV) representation of quadrotor dynamics utilizing Koopman theory, facilitating computationally efficient linear model…
An Optimization-Based Planner with B-spline Parameterized Continuous-Time Reference Signals
Chuyuan Tao, Sheng Cheng, Yang Zhao +2
For the cascaded planning and control modules implemented for robot navigation, the frequency gap between the planner and controller has received limited attention. In this study,…
Proto-MPC: An Encoder-Prototype-Decoder Approach for Quadrotor Control in Challenging Winds
Yuliang Gu, Sheng Cheng, Naira Hovakimyan
Quadrotors are increasingly used in the evolving field of aerial robotics for their agility and mechanical simplicity. However, inherent uncertainties, such as aerodynamic effects…