2 papers
cs.RO2026
Accelerating and Scaling MPC-Guided Reinforcement Learning for Humanoid Locomotion and Manipulation
Junheng Li, Liang Wu, Sergio A. Esteban +3
In humanoid motion control, model predictive control (MPC) offers physically grounded prediction and constraint handling, while reinforcement learning (RL) enables robust whole-bod…
cs.RO2025
Certifiably Optimal Estimation and Calibration in Robotics via Trace-Constrained Semi-Definite Programming
Liangting Wu, Roberto Tron
Many nonconvex problems in robotics can be relaxed into convex formulations via Semi-Definite Programming (SDP) that can be solved to global optimality. The practical quality of th…