Related papers: Generalized Reinforcement Learning for Building Co…

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…

Reinforcement learning (RL) is a goal-oriented learning solution that has proven to be successful for Neural Architecture Search (NAS) on the CIFAR and ImageNet datasets. However, a limitation of this approach is its high computational…

Offline reinforcement learning (RL) enables policy optimization from fixed datasets, making it suitable for safety-critical applications where online exploration is infeasible. However, these datasets are often contaminated by adversarial…

The market for domestic robots made to perform household chores is growing as these robots relieve people of everyday responsibilities. Domestic robots are generally welcomed for their role in easing human labor, in contrast to industrial…

Reinforcement learning (RL) techniques have been increasingly investigated for dynamic HVAC control in buildings. However, most studies focus on exploring solutions in online or off-policy scenarios without discussing in detail the…

Generative Behavior Cloning (GBC) is a simple yet effective framework for robot learning, particularly in multi-task settings. Recent GBC methods often employ diffusion policies with open-loop (OL) control, where actions are generated via a…

Guidance & control networks (G&CNETs) provide a promising alternative to on-board guidance and control (G&C) architectures for spacecraft, offering a differentiable, end-to-end representation of the guidance and control architecture. When…

In autonomous driving, end-to-end methods utilizing Imitation Learning (IL) and Reinforcement Learning (RL) are becoming more and more common. However, they do not involve explicit reasoning like classic robotics workflow and planning with…

The building thermodynamics model, which predicts real-time indoor temperature changes under potential HVAC (Heating, Ventilation, and Air Conditioning) control operations, is crucial for optimizing HVAC control in buildings. While…

Model predictive control (MPC) is widely used for motion planning, particularly in autonomous driving. Real-time capability of the planner requires utilizing convex approximation of optimal control problems (OCPs) for the planner. However,…

Reinforcement learning (RL) has proven effective for AI-based building energy management. However, there is a lack of flexible framework to implement RL across various control problems in building energy management. To address this gap, we…

Advanced model-based controllers are well established in process industries. However, such controllers require regular maintenance to maintain acceptable performance. It is a common practice to monitor controller performance continuously…

Buildings account for 40% of global energy consumption. A considerable portion of building energy consumption stems from heating, ventilation, and air conditioning (HVAC), and thus implementing smart, energy-efficient HVAC systems has the…

Cooperative control of groups of autonomous vehicles (AVs), i.e., platoons, is a promising direction to improving the efficiency of autonomous transportation systems. In this context, distributed co-optimization of both vehicle speed and…

This paper proposes a learning-based model predictive control (MPC) approach for the thermal control of a four-zone smart building. The objectives are to minimize energy consumption and maintain the residents' comfort. The proposed control…

Offline reinforcement learning, by learning from a fixed dataset, makes it possible to learn agent behaviors without interacting with the environment. However, depending on the quality of the offline dataset, such pre-trained agents may…

Behavioral cloning is an imitation learning technique that teaches an agent how to behave through expert demonstrations. Recent approaches use self-supervision of fully-observable unlabeled snapshots of the states to decode state-pairs into…

Offline reinforcement learning (RL) struggles in environments with rich and noisy inputs, where the agent only has access to a fixed dataset without environment interactions. Past works have proposed common workarounds based on the…

Behavioral cloning (BC) provides a straightforward solution to offline RL by mimicking offline trajectories via supervised learning. Recent advances (Chen et al., 2021; Janner et al., 2021; Emmons et al., 2021) have shown that by…

In this paper, we introduce a new class of parameterized controllers, drawing inspiration from Model Predictive Control (MPC). The controller resembles a Quadratic Programming (QP) solver of a linear MPC problem, with the parameters of the…