3 papers
cs.RO2026
Latent Linear Quadratic Regulator for Robotic Control Tasks
Yuan Zhang, Shaohui Yang, Toshiyuki Ohtsuka +2
Model predictive control (MPC) has played a more crucial role in various robotic control tasks, but its high computational requirements are concerning, especially for nonlinear dyn…
cs.RO2025
Fast ECoT: Efficient Embodied Chain-of-Thought via Thoughts Reuse
Zhekai Duan, Yuan Zhang, Shikai Geng +3
Embodied Chain-of-Thought (ECoT) reasoning enhances vision-language-action (VLA) models by improving performance and interpretability through intermediate reasoning steps. However,…
cs.LG2025
Inverse Reinforcement Learning via Convex Optimization
Hao Zhu, Yuan Zhang, Joschka Boedecker
We consider the inverse reinforcement learning (IRL) problem, where an unknown reward function of some Markov decision process is estimated based on observed expert demonstrations.…