https://www.cadenzacoda.click/tags/hierarchical-control/Hierarchical ControlHugoBlox Kit (https://hugoblox.com)en-usMon, 01 May 2023 00:00:00 +0000https://www.cadenzacoda.click/media/icon_hu_702a800cd775dbac.pnghttps://www.cadenzacoda.click/tags/hierarchical-control/https://www.cadenzacoda.click/projects/goal-conditioned-learning-mpc/Mon, 01 May 2023 00:00:00 +0000https://www.cadenzacoda.click/projects/goal-conditioned-learning-mpc/<p><strong>Independent Research</strong> (May 2023 &mdash; Sep 2023)</p> <ul> <li>Explored a goal-conditioned, data-driven MPC pipeline using feasible closed-loop trajectories to learn transition costs between feasible states via imitation learning.</li> <li>Investigated a two-layer hierarchical architecture: short-horizon reference generation in a planning layer, tracked by MPC in an execution layer.</li> <li>Demonstrated improved long-horizon efficiency in simulation compared to a single-layer MPC baseline.</li> </ul> <p><strong>Tech:</strong> Gurobi, CasADi, MPC, Python.</p>