Seungmin Jeon

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...