Author

Seung-Woo Hong

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Open access Oct 2025

Residual MPC: Blending Reinforcement Learning With GPU-Parallelized Model Predictive Control

This work presents a GPU-parallelized residual architecture that tightly integrates MPC and RL by blending their outputs at the torque-control level, achieving higher sample efficiency, converges to greater asymptotic rewards, expands the range of trackable velocity commands, and enables zero-shot adaptation to unseen...

Seungmin Jeon, Ho Jae Lee, Seung-Woo Hong et al. · IEEE Transactions on robotic... · 10 citations

Open access Jul 2026

Agile perceptive multiskill locomotion for quadrupedal robots in the wild

APT-RL (action pretrained transformer-based reinforcement learning), a unified framework that enables multiskill locomotion to achieve high-speed traversal in complex environments through autonomous skill transitions using only onboard perception and computation, is presented.

Jun-Gill Kang, Jaehyun Park, Tae-Gyu Song et al. · Sci. Robotics · 1 citation