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cs.RO2024
CusADi: A GPU Parallelization Framework for Symbolic Expressions and Optimal Control
Se Hwan Jeon, Seungwoo Hong, Ho Jae Lee +2
The parallelism afforded by GPUs presents significant advantages in training controllers through reinforcement learning (RL). However, integrating model-based optimization into thi…
cs.RO2024★ 53 cited
Tailoring Solution Accuracy for Fast Whole-body Model Predictive Control of Legged Robots
Charles Khazoom, Seungwoo Hong, Matthew Chignoli +2
Thanks to recent advancements in accelerating non-linear model predictive control (NMPC), it is now feasible to deploy whole-body NMPC at real-time rates for humanoid robots. Howev…