2 papers
cs.RO2025
SAC-MoE: Reinforcement Learning with Mixture-of-Experts for Control of Hybrid Dynamical Systems with Uncertainty
Leroy D'Souza, Akash Karthikeyan, Yash Vardhan Pant +1
Hybrid dynamical systems result from the interaction of continuous-variable dynamics with discrete events and encompass various systems such as legged robots, vehicles and aircraft…
eess.SY2025
Tractable Stochastic Hybrid Model Predictive Control using Gaussian Processes for Repetitive Tasks in Unseen Environments
Leroy D'Souza, Yash Vardhan Pant, Sebastian Fischmeister
Improving the predictive accuracy of a dynamics model is crucial to obtaining good control performance and safety from Model Predictive Controllers (MPC). One approach involves lea…