Ahmed Khalil — accepted AI-conference papers

2025

TransformerMPC: Accelerating Model Predictive Control via Transformers

Vrushabh Zinage, Ahmed Khalil, Efstathios Bakolas

ICRA 2025

In this paper, we address the problem of reducing the computational burden of Model Predictive Control (MPC) for real-time robotic applications. We propose TransformerMPC, a method that enhances the computational efficiency of MPC algorithms by leveraging the attention mechanism in transformers for

Cited by 12 Source ↗Scholar ↗

2023

Q-learning Decision Transformer: Leveraging Dynamic Programming for Conditional Sequence Modelling in Offline RL

Taku Yamagata, Ahmed Khalil, Raul Santos-Rodriguez

ICML 2023poster

Recent works have shown that tackling offline reinforcement learning (RL) with a conditional policy produces promising results. The Decision Transformer (DT) combines the conditional policy approach and a transformer architecture, showing competitive performance against several benchmarks. However,…

Cited by 104 Source ↗PDF ↗code ↗Scholar ↗