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cs.RO2026
CacheMPC: Certified Cached Model Predictive Control for Quadruped Locomotion
Nimesh Khandelwal, Mehul Anand, Shakti S. Gupta +1
Model Predictive Control (MPC) is the standard predictive layer in hierarchical quadruped controllers, but the per-cycle QP solve limits the update rate achievable on embedded proc…
cs.RO2026
Agent-Driven Autonomous Reinforcement Learning Research: Iterative Policy Improvement for Quadruped Locomotion
Nimesh Khandelwal, Shakti S. Gupta
This paper documents a case study in agent-driven autonomous reinforcement learning research for quadruped locomotion. The setting was not a fully self-starting research system. A…