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cs.RO2024
Goal-Conditioned Terminal Value Estimation for Real-time and Multi-task Model Predictive Control
Mitsuki Morita, Satoshi Yamamori, Satoshi Yagi +2
While MPC enables nonlinear feedback control by solving an optimal control problem at each timestep, the computational burden tends to be significantly large, making it difficult t…
cs.RO2024★ 1 cited
Phase-Amplitude Reduction-Based Imitation Learning
Satoshi Yamamori, Jun Morimoto
In this study, we propose the use of the phase-amplitude reduction method to construct an imitation learning framework. Imitating human movement trajectories is recognized as a pro…