3 papers
cs.LG2026
Cheap Thrills: Effective Amortized Optimization Using Inexpensive Labels
Khai Nguyen, Petros Ellinas, Anvita Bhagavathula +1
To scale optimization and simulation, prior work has explored training machine-learning surrogates that map problem parameters to solutions inexpensively at inference time. Unfortu…
cs.RO2024
Code Generation and Conic Constraints for Model-Predictive Control on Microcontrollers with Conic-TinyMPC
Ishaan Mahajan, Khai Nguyen, Sam Schoedel +4
Model-predictive control (MPC) is a state-of-the-art control method for constrained robotic systems, yet deployment on resource-limited hardware remains difficult. This challenge i…
cs.RO2023
TinyMPC: Model-Predictive Control on Resource-Constrained Microcontrollers
Anoushka Alavilli, Khai Nguyen, Sam Schoedel +2
Model-predictive control (MPC) is a powerful tool for controlling highly dynamic robotic systems subject to complex constraints. However, MPC is computationally demanding, and is o…