3 papers
cs.RO2026
A Unified Framework for Empowerment and Predictive Control
Wooyoung Chung, Tristan Shah, Volodymyr Makarenko +1
Sampling-based model predictive control (MPC) is a powerful approach to trajectory optimization, but its performance depends on an informative cost function that often requires sub…
cs.LG2026
Bellman Meets Lyapunov: Unsupervised Reinforcement Learning via Mastering Chaos
Tristan Shah, Wooyoung Chung, Volodomyr Makarenko +2
Reinforcement learning (RL) is a powerful paradigm for training agents, yet its success rests on domain expertise of human engineers who design informative reward signals for every…
cs.RO2023
Dimensionality Reduction of Dynamics on Lie Manifolds via Structure-Aware Canonical Correlation Analysis
Wooyoung Chung, Daniel Polani, Stas Tiomkin
Incorporating prior knowledge into a data-driven modeling problem can drastically improve performance, reliability, and generalization outside of the training sample. The stronger…