9 citations · 16 across the 12 of their papers we have counts for
12 papers
PriPG-RL: Privileged Planner-Guided Reinforcement Learning for Partially Observable Systems with Anytime-Feasible MPC
Mohsen Amiri, Ali Beikmohammadi, Sindri Magnuśson +1
This paper addresses the problem of training a reinforcement learning (RL) policy under partial observability by exploiting a privileged, anytime-feasible planner agent available e…
A Physical Agentic Loop for Language-Guided Grasping with Execution-State Monitoring
Wenze Wang, Mehdi Hosseinzadeh, Feras Dayoub
Robotic manipulation systems that follow language instructions often execute grasp primitives in a largely single-shot manner: a model proposes an action, the robot executes it, an…
A Block-Alternating Iterative Approach for a Class of Non-Convex Optimization Problems
Anran Li, John P. Swensen, Mehdi Hosseinzadeh
Constrained non-convex optimization problems frequently arise in control applications. Solving such problems is inherently challenging, as existing methods often converge to subopt…
REAP-T: A MATLAB Toolbox for Implementing Robust-to-Early Termination Model Predictive Control
Mohsen Amiri, Mehdi Hosseinzadeh
This paper presents a MATLAB toolbox for implementing robust-to-early termination model predictive control, abbreviated as REAP, which is designed to ensure a sub-optimal yet feasi…
Robust Steady-State-Aware Model Predictive Control for Systems with Limited Computational Resources and External Disturbances
Hassan Jafari Ozoumchelooei, Mehdi Hosseinzadeh
Model Predictive Control (MPC) is a powerful control strategy; however, its reliance on online optimization poses significant challenges for implementation on systems with limited…
Provably-Stable Neural Network-Based Control of Nonlinear Systems
Anran Li, John P. Swensen, Mehdi Hosseinzadeh
In recent years, Neural Networks (NNs) have been employed to control nonlinear systems due to their potential capability in dealing with situations that might be difficult for conv…
A Guaranteed-Stable Neural Network Approach for Optimal Control of Nonlinear Systems
Anran Li, John P. Swensen, Mehdi Hosseinzadeh
A promising approach to optimal control of nonlinear systems involves iteratively linearizing the system and solving an optimization problem at each time instant to determine the o…
Practical Considerations for Implementing Robust-to-Early Termination Model Predictive Control
Mohsen Amiri, Mehdi Hosseinzadeh
Model Predictive Control (MPC) is widely used to achieve performance objectives, while enforcing operational and safety constraints. Despite its high performance, MPC often demands…
Safe and Efficient Robot Action Planning in the Presence of Unconcerned Humans
Mohsen Amiri, Mehdi Hosseinzadeh
This paper proposes a robot action planning scheme that provides an efficient and probabilistically safe plan for a robot interacting with an unconcerned human -- someone who is ei…
An Adaptive Method for Contextual Stochastic Multi-armed Bandits with Rewards Generated by a Linear Dynamical System
Jonathan Gornet, Mehdi Hosseinzadeh, Bruno Sinopoli
Online decision-making can be formulated as the popular stochastic multi-armed bandit problem where a learner makes decisions (or takes actions) to maximize cumulative rewards coll…
Discrete-Time Implementation of Explicit Reference Governor
Mu'taz A. Momani, Mehdi Hosseinzadeh
Explicit reference governor (ERG) is an add-on unit that provides constraint handling capability to pre-stabilized systems. The main idea behind ERG is to manipulate the derivative…
Closed-Loop Model Identification and MPC-based Navigation of Quadcopters: A Case Study of Parrot Bebop 2
Mohsen Amiri, Mehdi Hosseinzadeh
The growing potential of quadcopters in various domains, such as aerial photography, search and rescue, and infrastructure inspection, underscores the need for real-time control un…