2 papers
eess.SY2025
Learning Physically Consistent Lagrangian Control Models Without Acceleration Measurements
Ibrahim Laiche, Mokrane Boudaoud, Patrick Gallinari +1
This article investigates the modeling and control of Lagrangian systems involving non-conservative forces using a hybrid method that does not require acceleration calculations. It…
cs.LG2025
RT-HCP: Dealing with Inference Delays and Sample Efficiency to Learn Directly on Robotic Platforms
Zakariae El Asri, Ibrahim Laiche, Clément Rambour +2
Learning a controller directly on the robot requires extreme sample efficiency. Model-based reinforcement learning (RL) methods are the most sample efficient, but they often suffer…