4 papers · 1 filter
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…
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…
Inverse Kinematics with Vision-Based Constraints
Liangting Wu, Roberto Tron
This paper introduces the Visual Inverse Kinematics problem (VIK) to fill the gap between robot Inverse Kinematics (IK) and visual servo control. Different from the IK problem, the…
IKSPARK: Obstacle-Aware Inverse Kinematics via Convex Optimization
Liangting Wu, Roberto Tron
Inverse kinematics (IK) is central to robot control and motion planning, yet its nonlinear kinematic mapping makes it inherently nonconvex and particularly challenging under comple…