Related papers: Foundations of Iterative Learning Control

In aims to uncover insights into medical decision-making embedded within observational data from clinical settings, we present a novel application of Inverse Reinforcement Learning (IRL) that identifies suboptimal clinician actions based on…

In-context learning (ICL) is a remarkable capability of pretrained transformers that allows models to generalize to unseen tasks after seeing only a few examples. We investigate empirically the conditions necessary on the pretraining…

Continuous reinforcement learning such as DDPG and A3C are widely used in robot control and autonomous driving. However, both methods have theoretical weaknesses. While DDPG cannot control noises in the control process, A3C does not satisfy…

Feedforward controllers typically rely on accurately identified inverse models of the system dynamics to achieve high reference tracking performance. However, the impact of the (inverse) model identification error on the resulting tracking…

Inferring the intent of an intelligent agent from demonstrations and subsequently predicting its behavior, is a critical task in many collaborative settings. A common approach to solve this problem is the framework of inverse reinforcement…

Inverse Reinforcement Learning (IRL) is the task of learning a single reward function given a Markov Decision Process (MDP) without defining the reward function, and a set of demonstrations generated by humans/experts. However, in practice,…

Inverse reinforcement learning (IRL) enables an agent to learn complex behavior by observing demonstrations from a (near-)optimal policy. The typical assumption is that the learner's goal is to match the teacher's demonstrated behavior. In…

In-context learning (ICL) allows LLMs to learn from examples without changing their weights: this is a particularly promising capability for long-context LLMs that can potentially learn from many examples. Recently, Lin et al. (2024)…

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…

Continual learning (CL) is a new online learning technique over sequentially generated streaming data from different tasks, aiming to maintain a small forgetting loss on previously-learned tasks. Existing work focuses on reducing the…

In-Context Learning (ICL) has significantly expanded the general-purpose nature of large language models, allowing them to adapt to novel tasks using merely the inputted context. This has motivated a series of papers that analyze tractable…

While a characterization of plant-model mismatch is necessary for robust control, the mismatch usually can not be described accurately due to the lack of knowledge about the plant model or the complexity of nonlinear plants. Hence, this…

In-context learning (ICL) has garnered significant attention for its ability to grasp functions/tasks from demonstrations. Recent studies suggest the presence of a latent task/function vector in LLMs during ICL. Merullo et al. (2024) showed…

In-context learning (ICL) is a new paradigm for natural language processing that utilizes Generative Pre-trained Transformer (GPT)-like models. This approach uses prompts that include in-context demonstrations to generate the corresponding…

Recent advancements in machine learning provide methods to train autonomous agents capable of handling the increasing complexity of sequential decision-making in robotics. Imitation Learning (IL) is a prominent approach, where agents learn…

In-context learning (ICL) refers to a remarkable capability of pretrained large language models, which can learn a new task given a few examples during inference. However, theoretical understanding of ICL is largely under-explored,…

Transformers have demonstrated remarkable in-context learning (ICL) capabilities, adapting to new tasks by simply conditioning on demonstrations without parameter updates. Compelling empirical and theoretical evidence suggests that ICL, as…

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…

We aim to solve the problem of temporal-constraint learning from demonstrations to reproduce demonstration-like logic-constrained behaviors. Learning logic constraints is challenging due to the combinatorially large space of possible…

In this paper, we present an iterative Model Predictive Control (MPC) design for piecewise nonlinear systems. We consider finite time control tasks where the goal of the controller is to steer the system from a starting configuration to a…