1 citations · 1 across the 4 of their papers we have counts for
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CusADi: A GPU Parallelization Framework for Symbolic Expressions and Optimal Control
Se Hwan Jeon, Seungwoo Hong, Ho Jae Lee +2
The parallelism afforded by GPUs presents significant advantages in training controllers through reinforcement learning (RL). However, integrating model-based optimization into thi…
FLD: Fourier Latent Dynamics for Structured Motion Representation and Learning
Chenhao Li, Elijah Stanger-Jones, Steve Heim +1
Motion trajectories offer reliable references for physics-based motion learning but suffer from sparsity, particularly in regions that lack sufficient data coverage. To address thi…
Learning Emergent Gaits with Decentralized Phase Oscillators: on the role of Observations, Rewards, and Feedback
Jenny Zhang, Steve Heim, Se Hwan Jeon +1
We present a minimal phase oscillator model for learning quadrupedal locomotion. Each of the four oscillators is coupled only to itself and its corresponding leg through local feed…