Author

K. Sreenath

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#machine learning Jul 2026

Trajectory-Regularized Stochastic Optimal Control via KL Divergence

TRSOC is introduced, which augments standard stochastic optimal control with a Kullback--Leibler (KL) divergence between controlled and reference trajectory distributions, and the regularization parameter induces a trade-off between performance-driven and reference-preserving behavior.

Mintae Kim, K. Sreenath · arXiv.org · 0 citations

Review Aug 2026

Evolution of humanoid locomotion control.

This survey positions humanoid control at a turning point, converging toward a unified paradigm of physics-guided generative intelligence that integrates optimization, learning, and predictive reasoning.

Yan Gu, Guan-Ya Shi, Fan Shi et al. · Science Robotics · 8 citations