Related papers: A Secure Learning Control Strategy via Dynamic Cam…
Advanced vehicle control is a fundamental building block in the development of autonomous driving systems. Reinforcement learning (RL) promises to achieve control performance superior to classical approaches while keeping computational…
Deep reinforcement learning (DRL) has demonstrated remarkable performance in many continuous control tasks. However, a significant obstacle to the real-world application of DRL is the lack of safety guarantees. Although DRL agents can…
Deep Reinforcement Learning (DRL) enhances the efficiency of Autonomous Vehicles (AV), but also makes them susceptible to backdoor attacks that can result in traffic congestion or collisions. Backdoor functionality is typically incorporated…
Formation and collision avoidance abilities are essential for multi-agent systems. Conventional methods usually require a central controller and global information to achieve collaboration, which is impractical in an unknown environment. In…
Robust reinforcement learning (RL) is to find a policy that optimizes the worst-case performance over an uncertainty set of MDPs. In this paper, we focus on model-free robust RL, where the uncertainty set is defined to be centering at a…
Adversarial attacks and robustness in Deep Reinforcement Learning (DRL) have been widely studied in various threat models; however, few consider environmental state perturbations, which are natural in embodied scenarios. To improve the…
Deep reinforcement learning (DRL) has made significant achievements in many real-world applications. But these real-world applications typically can only provide partial observations for making decisions due to occlusions and noisy sensors.…
Safe reinforcement learning (RL) trains a policy to maximize the task reward while satisfying safety constraints. While prior works focus on the performance optimality, we find that the optimal solutions of many safe RL problems are not…
This paper studies a deep deterministic policy gradient (DDPG) based actor critic (AC) reinforcement learning (RL) technique to control a linear discrete-time system with a quadratic control cost while ensuring a constraint on the…
Deep reinforcement learning (DRL) algorithms can suffer from modeling errors between the simulation and the real world. Many studies use adversarial learning to generate perturbation during training process to model the discrepancy and…
In this chapter, the regulation of Unmanned Aerial Vehicle (UAV) communication network is investigated in the presence of dynamic changes in the UAV lineup and user distribution. We target an optimal UAV control policy which is capable of…
In this paper, we present a Symbolic Reinforcement Learning (SRL) based architecture for safety control of Radio Access Network (RAN) applications. In particular, we provide a purely automated procedure in which a user can specify…
Many state-of-the art robotic applications utilize series elastic actuators (SEAs) with closed-loop force control to achieve complex tasks such as walking, lifting, and manipulation. Model-free PID control methods are more prone to…
This paper presents a model-free reinforcement learning (RL) algorithm to solve the risk-averse optimal control (RAOC) problem for discrete-time nonlinear systems. While successful RL algorithms have been presented to learn optimal control…
The suspension system is a crucial part of the automotive chassis, improving vehicle ride comfort and isolating passengers from rough road excitation. Unlike passive suspension, which has constant spring and damping coefficients, active…
This work reports the application of a model-free deep-reinforcement-learning-based (DRL) flow control strategy to suppress perturbations evolving in the 1-D linearised Kuramoto-Sivashinsky (KS) equation and 2-D boundary layer flows. The…
This paper proposes a novel approach to controller design for MR-damped vehicle suspension system. This approach is predicated on the premise that the optimal control strategy can be learned through real-world or simulated experiments…
This work proposes a control-informed reinforcement learning (CIRL) framework that integrates proportional-integral-derivative (PID) control components into the architecture of deep reinforcement learning (RL) policies. The proposed…
This paper applies a reinforcement learning (RL) method to solve infinite horizon continuous-time stochastic linear quadratic problems, where drift and diffusion terms in the dynamics may depend on both the state and control. Based on…
Deep reinforcement learning (DRL) has emerged as a promising approach for robotic control, but its realworld deployment remains challenging due to its vulnerability to environmental perturbations. Existing white-box adversarial attack…