19 citations · 22 across the 15 of their papers we have counts for
4 papers · 1 filter
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…
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…
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…
Symmetric Stair Preconditioning of Linear Systems for Parallel Trajectory Optimization
Xueyi Bu, Brian Plancher
There has been a growing interest in parallel strategies for solving trajectory optimization problems. One key step in many algorithmic approaches to trajectory optimization is the…