Author

Baha Zarrouki

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Review Sep 2026

Embedding Physics Priors in Robot Learning: A Survey

It is argued that physics priors provide a particularly relevant robotics-specific inductive bias, complementing rather than replacing data-driven learning, and paving the way toward more generalizable, data-efficient, and trustworthy robotic systems.

Mattia Piccinini, L. Schulze, Alice Plebe et al. · 0 citations

#machine learning Preprint Sep 2026

Accelerating Reinforcement Learning via MPC Solver-Gradient Guidance for Weights-varying MPC

Solver-Gradient Guided Reinforcement Learning is proposed, a solver-sensitivity augmentation for RL-based online MPC cost-weight adaptation that reaches PPO's best closed-loop return with up to 70.6% fewer samples, and outperforms GB-PL baselines by at least 54% in closed-loop return.

Baha Zarrouki, Arslan Thobani, Jasper Hoffmann et al. · 0 citations