Model-Based Control with Sparse Neural Dynamics

no code implementations • NeurIPS 2023 • Ziang Liu, Genggeng Zhou, Jeff He, Tobia Marcucci, Li Fei-Fei, Jiajun Wu, Yunzhu Li

In this paper, we propose a new framework for integrated model learning and predictive control that is amenable to efficient optimization algorithms.

Smooth Model Predictive Control with Applications to Statistical Learning

no code implementations • 2 Jun 2023 • Kwangjun Ahn, Daniel Pfrommer, Jack Umenberger, Tobia Marcucci, Zak Mhammedi, Ali Jadbabaie

barrier MPC.

Learning Theory Model Predictive Control

Shortest Paths in Graphs of Convex Sets

1 code implementation • 27 Jan 2021 • Tobia Marcucci, Jack Umenberger, Pablo A. Parrilo, Russ Tedrake

Given a graph, the shortest-path problem requires finding a sequence of edges with minimum cumulative length that connects a source vertex to a target vertex.

Robot Navigation Discrete Mathematics Optimization and Control