3 papers
cs.RO2026
Guided Riemannian Optimization (GuRO): Bridging Model Predictive Control and Decision Transformers
Hossein Abdi, Satya Prakash Dash, Mingfei Sun
Decision-making in high-dimensional, nonlinear systems remains a central challenge in robotics. While model-based methods like Model Predictive Control (MPC) offer sample efficienc…
cs.LG2026
Rank-1 Approximation of Inverse Fisher for Natural Policy Gradients in Deep Reinforcement Learning
Yingxiao Huo, Satya Prakash Dash, Radu Stoican +2
Natural gradients have long been studied in deep reinforcement learning due to their fast convergence properties and covariant weight updates. However, computing natural gradients…
cs.LG2026
Gradient Regularized Natural Gradients
Satya Prakash Dash, Hossein Abdi, Wei Pan +2
Gradient regularization (GR) has been shown to improve the generalizability of trained models. While Natural Gradient Descent has been shown to accelerate optimization in the initi…