2 papers
cs.RO2025
Robust RL Control for Bipedal Locomotion with Closed Kinematic Chains
Egor Maslennikov, Eduard Zaliaev, Nikita Dudorov +7
Developing robust locomotion controllers for bipedal robots with closed kinematic chains presents unique challenges, particularly since most reinforcement learning (RL) approaches…
eess.SY2025
VIMPPI: Enhancing Model Predictive Path Integral Control with Variational Integration for Underactuated Systems
Igor Alentev, Lev Kozlov, Ivan Domrachev +2
This paper presents VIMPPI, a novel control approach for underactuated double pendulum systems developed for the AI Olympics competition. We enhance the Model Predictive Path Integ…