Showing cs.ROShow all
2 papers · 1 filter
cs.RO2026
Flow-Matched Motion Priors: Online Optimal-Transport Rewards for Imitation Learning
Yilin Zou, Chenghua Liu, Chenglong Wu +1
Learning a motion prior requires a reward that guides a policy from its current behavior toward demonstrated motion. Adversarial Motion Priors (AMP) provide such a reward with a di…
cs.RO2026
Parallel-in-Time Nonlinear Optimal Control via GPU-native Sequential Convex Programming
Yilin Zou, Zhong Zhang, Maxime Robic +1
Real-time solution of nonlinear optimal control problems remains challenging on embedded robotic hardware, where conventional solvers often rely on global sparse linear algebra or…