Related papers: Learning-based Nonlinear Model Predictive Control …

Robots must satisfy safety-critical state and input constraints despite disturbances and model mismatch. We introduce a robust model predictive control (RMPC) formulation that is fast, scalable, and compatible with real-time implementation.…

In this paper, we introduce a consistency-driven dual LSTM framework for accurately learning both the forward and inverse kinematics of a pneumatically actuated soft robotic arm integrated into a wearable device. This approach effectively…

Robust model predictive control (MPC) is a well-known control technique for model-based control with constraints and uncertainties. In classic robust tube-based MPC approaches, an open-loop control sequence is computed via periodically…

The macroscopic response of short fiber reinforced composites is dependent on an extensive range of microstructural parameters. Thus, micromechanical modeling of these materials is challenging and in some cases, computationally expensive.…

Controlling a non-statically stable biped is a difficult problem largely due to the complex hybrid dynamics involved. Recent work has demonstrated the effectiveness of reinforcement learning (RL) for simulation-based training of neural…

Accurate modeling of Short Fiber Reinforced Composites (SFRCs) remains computationally expensive for full-field simulations. Data-driven surrogate models using Artificial Neural Networks (ANNs) have been proposed as an efficient alternative…

For a given stable recurrent neural network (RNN) that is trained to perform a classification task using sequential inputs, we quantify explicit robustness bounds as a function of trainable weight matrices. The sequential inputs can be…

The practical deployment of nonlinear model predictive control (NMPC) is often limited by online computation: solving a nonlinear program at high control rates can be expensive on embedded hardware, especially when models are complex or…

Artificial Recurrent Neural Networks (RNNs) are widely used in neuroscience to model the collective activity of neurons during behavioral tasks. The high dimensionality of their parameter and activity spaces, however, often make it…

Soft robotics is a thriving branch of robotics which takes inspiration from nature and uses affordable flexible materials to design adaptable non-rigid robots. However, their flexible behavior makes these robots hard to model, which is…

Neural networks have recently become popular for a wide variety of uses, but have seen limited application in safety-critical domains such as robotics near and around humans. This is because it remains an open challenge to train a neural…

Control of machine learning models has emerged as an important paradigm for a broad range of robotics applications. In this paper, we present a sampling-based nonlinear model predictive control (NMPC) approach for control of neural network…

Recurrent Neural Networks (RNNs) produce state-of-art performance on many machine learning tasks but their demand on resources in terms of memory and computational power are often high. Therefore, there is a great interest in optimizing the…

We present a versatile nonlinear model predictive control (NMPC) formulation for quadrupedal locomotion. Our formulation jointly optimizes a base trajectory and a set of footholds over a finite time horizon based on simplified dynamics…

Robotic manipulators are essential for precise industrial pick-and-place operations, yet planning collision-free trajectories in dynamic environments remains challenging due to uncertainties such as sensor noise and time-varying delays.…

Short-term memory is essential for cognitive processing, yet our understanding of its neural mechanisms remains unclear. Neuroscience has long focused on how sequential activity patterns, where neurons fire one after another within large…

Recurrent neural networks (RNNs) are brain-inspired models widely used in machine learning for analyzing sequential data. The present work is a contribution towards a deeper understanding of how RNNs process input signals using the response…

Endowing robots with human-like physical reasoning abilities remains challenging. We argue that existing methods often disregard spatio-temporal relations and by using Graph Neural Networks (GNNs) that incorporate a relational inductive…

Deep learning and model predictive control (MPC) can play complementary roles in legged robotics. However, integrating learned models with online planning remains challenging. When dynamics are learned with neural networks, three key…

Random Recurrent Neural Networks (RRNN) are the simplest recurrent networks to model and extract features from sequential data. The simplicity however comes with a price; RRNN are known to be susceptible to diminishing/exploding gradient…