Related papers: Cerebellar-Inspired Learning Rule for Gain Adaptat…
By optimizing the predicted performance over a receding horizon, model predictive control (MPC) provides the ability to enforce state and control constraints. The present paper considers an extension of MPC for nonlinear systems that can be…
Reinforcement learning (RL) has achieved notable performance in high-dimensional sequential decision-making tasks, yet remains limited by low sample efficiency, sensitivity to noise, and weak generalization under partial observability. Most…
Controllable Pareto front learning (CPFL) approximates the Pareto solution set and then locates a Pareto optimal solution with respect to a given reference vector. However, decision-maker objectives were limited to a constraint region in…
In this paper, a learning based Model Predictive Control (MPC) using a low dimensional residual model is proposed for autonomous driving. One of the critical challenge in autonomous driving is the complexity of vehicle dynamics, which…
In several papers published in Biological Cybernetics in the 1980s and 1990s, Kawato and colleagues proposed computational models explaining how internal models are acquired in the cerebellum. These models were later supported by…
A fundamental question in neuroscience is how the brain creates an internal model of the world to guide actions using sequences of ambiguous sensory information. This is naturally formulated as a reinforcement learning problem under partial…
Cerebellar-like networks, in which input activity patterns are separated by projection to a much higher-dimensional space before classification, are a recurring neurobiological motif, present in the cerebellum, dentate gyrus, insect…
Animals move smoothly and reliably in unpredictable environments. Models of sensorimotor control have assumed that sensory information from the environment leads to actions, which then act back on the environment, creating a single,…
We propose a computationally efficient Learning Model Predictive Control (LMPC) scheme for constrained optimal control of a class of nonlinear systems where the state and input can be reconstructed using lifted outputs. For the considered…
Model-Predictive Control (MPC) is a powerful tool for controlling complex, real-world systems that uses a model to make predictions about future behavior. For each state encountered, MPC solves an online optimization problem to choose a…
Learning from data of past tasks can substantially improve the accuracy of mechatronic systems. Often, for fast and safe learning a model of the system is required. The aim of this paper is to develop a model-free approach for fast and safe…
Model predictive control (MPC) is increasingly being considered for control of fast systems and embedded applications. However, the MPC has some significant challenges for such systems. Its high computational complexity results in high…
A Learning Model Predictive Controller (LMPC) is presented and tailored to platooning and Connected Autonomous Vehicles (CAVs) applications. The proposed controller builds on previous work on nonlinear LMPC, adapting its architecture and…
Sample-based learning model predictive control (LMPC) strategies have recently attracted attention due to their desirable theoretical properties and their good empirical performance on robotic tasks. However, prior analysis of LMPC…
Equilibrium systems are a powerful way to express neural computations. As special cases, they include models of great current interest in both neuroscience and machine learning, such as deep neural networks, equilibrium recurrent neural…
The recent advancement in vehicular networking technology provides novel solutions for designing intelligent and sustainable vehicle motion controllers. This work addresses a car-following task, where the feedback linearisation method is…
LLMs are often trained with RL from human or AI feedback, yet such methods typically compress nuanced feedback into scalar rewards, discarding much of their richness and inducing scale imbalance. We propose treating verbal feedback as a…
It is typically proven in adaptive control that asymptotic stabilization and tracking holds, and that at best a bounded-noise bounded-state property is proven. Recently, it has been shown in both the pole-placement control and the $d$-step…
We consider the problem of learning structured, closed-loop policies (feedback laws) from demonstrations in order to control under-actuated robotic systems, so that formal behavioral specifications such as reaching a target set of states…
Concept Bottleneck Models (CBMs) tackle the opacity of neural architectures by constructing and explaining their predictions using a set of high-level concepts. A special property of these models is that they permit concept interventions,…