Author

Wataru Hashimoto

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Preprint Sep 2026

MM-LMPC: Multi-Modal Learning Model Predictive Control via Mode-Specific Terminal Design and Bandit-Based Exploration

Learning Model Predictive Control (LMPC) improves iterative control tasks by using previous executions to construct the terminal constraint and terminal cost of the MPC problem. Although effective, this reuse of past trajectories can make LMPC sensitive to the initial data. In particular, LMPC may repeatedly exploit st...

Wataru Hashimoto, Kazumune Hashimoto, Masako Kishida · 0 citations

Conference Aug 2026

Meta-Learning Control Barrier Functions under Input Constraints

This paper studies learning-based synthesis of control barrier functions (CBFs) with an explicit treatment of hard input constraints. Training a task-specific CBF from scratch for each new environment can be computationally expensive and data-inefficient. To address this, we propose a meta-learning approach based on Mo...

Wataru Hashimoto, Masato Sakamoto, Kazumune Hashimoto et al. · Conference on Control Techno... · 0 citations