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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.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…