Author

Wooyoung Chung

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Preprint Oct 2026

A Unified Framework for Empowerment and Predictive Control

Sampling-based model predictive control (MPC) is a powerful approach to trajectory optimization, but its performance depends on an informative cost function that often requires substantial domain knowledge to design. An alternative is to derive objectives directly from the system dynamics. Empowerment, defined as the c...

Wooyoung Chung, Tristan A. Shah, Volodymyr Makarenko et al. · 0 citations

#machine learning Preprint Oct 2026

Bellman Meets Lyapunov: Unsupervised Reinforcement Learning via Mastering Chaos

Reinforcement learning (RL) is a powerful paradigm for training agents, yet its success rests on domain expertise of human engineers who design informative reward signals for every new task. Unsupervised RL aims to reduce this engineering with intrinsic motivation (IM): reward signals that emerge from the agent environ...

Tristan A. Shah, Wooyoung Chung, Volodomyr Makarenko et al. · 0 citations