most citedMPC4RL -- A Software Package for Reinforcement Learning based on Model Predictive Control

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math.OC2025

Towards Solutions of Manipulation Tasks via Optimal Control of Projected Dynamical Systems

Anton Pozharskiy, Armin Nurkanović, Moritz Diehl

We introduce a modeling framework for manipulation planning based on the formulation of the dynamics as a projected dynamical system. This method uses implicit signed distance func…

math.OC2024

First-Order Sweeping Processes and Extended Projected Dynamical Systems: Equivalence, Time-Discretization and Numerical Optimal Control

Anton Pozharskiy, Armin Nurkanović, Moritz Diehl

Constrained dynamical systems are systems such that, by some means, the state stays within a given set. Two such systems are the (perturbed) Moreau sweeping process and the recentl…