Showing 2026Show all
2 papers · 1 filter
cs.RO2026
Guided Riemannian Optimization (GuRO): Bridging Model Predictive Control and Decision Transformers
Hossein Abdi, Satya Prakash Dash, Mingfei Sun
Decision-making in high-dimensional, nonlinear systems remains a central challenge in robotics. While model-based methods like Model Predictive Control (MPC) offer sample efficienc…
cs.LG2026
Gradient Regularized Natural Gradients
Satya Prakash Dash, Hossein Abdi, Wei Pan +2
Gradient regularization (GR) has been shown to improve the generalizability of trained models. While Natural Gradient Descent has been shown to accelerate optimization in the initi…