36 citations · 96 across the 15 of their papers we have counts for
4 papers · 1 filter
Duality Theory for Non-Markovian Linear Gaussian Models
Aditya Kudre, Heng-Sheng Chang, Prashant G. Mehta
This work develops a duality theory for partially observed linear Gaussian models in discrete time. The state process evolves according to a causal but non-Markovian (or higher-ord…
Interacting Particle Systems for Fast Linear Quadratic RL
Anant A Joshi, Heng-Sheng Chang, Amirhossein Taghvaei +2
This paper is concerned with the design of algorithms based on systems of interacting particles to represent, approximate, and learn the optimal control law for reinforcement learn…
Energy Shaping Control of a Muscular Octopus Arm Moving in Three Dimensions
Heng-Sheng Chang, Udit Halder, Chia-Hsien Shih +3
Flexible octopus arms exhibit an exceptional ability to coordinate large numbers of degrees of freedom and perform complex manipulation tasks. As a consequence, these systems conti…
Energy Shaping Control of a CyberOctopus Soft Arm
Heng-Sheng Chang, Udit Halder, Chia-Hsien Shih +7
This paper entails application of the energy shaping methodology to control a flexible, elastic Cosserat rod model. Recent interest in such continuum models stems from applications…