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07/21/2023
Towards practical reinforcement learning for tokamak magnetic control
Reinforcement learning (RL) has shown promising results for real-time co...
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10/20/2021
Shaking the foundations: delusions in sequence models for interaction and control
The recent phenomenal success of language models has reinvigorated machi...
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10/12/2020
Local Search for Policy Iteration in Continuous Control
We present an algorithm for local, regularized, policy improvement in re...
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01/02/2020
Continuous-Discrete Reinforcement Learning for Hybrid Control in Robotics
Many real-world control problems involve both discrete decision variable...
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02/12/2019
Value constrained model-free continuous control
The naive application of Reinforcement Learning algorithms to continuous...
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08/04/2018
Nonlinear disturbance attenuation control of hydraulic robotics
This paper presents a novel nonlinear disturbance rejection control for ...
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06/19/2018
ConFusion: Sensor Fusion for Complex Robotic Systems using Nonlinear Optimization
We present ConFusion, an open-source package for online sensor fusion fo...
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05/23/2018
A Projection Approach to Equality Constrained Iterative Linear Quadratic Optimal Control
This paper presents a state and state-input constrained variant of the d...
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01/12/2018
The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
We introduce the Control Toolbox (CT), an open-source C++ library for ef...
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12/07/2017
Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds
In this work we present a whole-body Nonlinear Model Predictive Control ...
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11/29/2017
A Family of Iterative Gauss-Newton Shooting Methods for Nonlinear Optimal Control
This paper introduces a family of iterative algorithms for unconstrained...
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10/11/2017