19 citations · 22 across the 15 of their papers we have counts for
Showing 2023 · cs.ROShow all
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cs.RO2023
Differentially Encoded Observation Spaces for Perceptive Reinforcement Learning
Lev Grossman, Brian Plancher
Perceptive deep reinforcement learning (DRL) has lead to many recent breakthroughs for complex AI systems leveraging image-based input data. Applications of these results range fro…
cs.RO2023
TinyMPC: Model-Predictive Control on Resource-Constrained Microcontrollers
Anoushka Alavilli, Khai Nguyen, Sam Schoedel +2
Model-predictive control (MPC) is a powerful tool for controlling highly dynamic robotic systems subject to complex constraints. However, MPC is computationally demanding, and is o…
cs.RO2023★ 19 cited
MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on the GPU
Emre Adabag, Miloni Atal, William Gerard +1
Nonlinear Model Predictive Control (NMPC) is a state-of-the-art approach for locomotion and manipulation which leverages trajectory optimization at each control step. While the per…