4 papers
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…
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,…
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.…
UDUC: An Uncertainty-driven Approach for Learning-based Robust Control
Yuan Zhang, Jasper Hoffmann, Joschka Boedecker
Learning-based techniques have become popular in both model predictive control (MPC) and reinforcement learning (RL). Probabilistic ensemble (PE) models offer a promising approach…