3 papers
cs.RO2025
Flexible Locomotion Learning with Diffusion Model Predictive Control
Runhan Huang, Haldun Balim, Heng Yang +1
Legged locomotion demands controllers that are both robust and adaptable, while remaining compatible with task and safety considerations. However, model-free reinforcement learning…
cs.LG2025
A Model-Based Approach to Imitation Learning through Multi-Step Predictions
Haldun Balim, Yang Hu, Yuyang Zhang +1
Imitation learning is a widely used approach for training agents to replicate expert behavior in complex decision-making tasks. However, existing methods often struggle with compou…
eess.SY2024
Stochastic Data-Driven Predictive Control: Chance-Constraint Satisfaction with Identified Multi-step Predictors
Haldun Balim, Andrea Carron, Melanie N. Zeilinger +1
We propose a novel data-driven stochastic model predictive control framework for uncertain linear systems with noisy output measurements. Our approach leverages multi-step predicto…