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Reinforcement learning is applied to the development of control strategies in order to reduce skin friction drag in a fully developed turbulent channel flow at a low Reynolds number. Motivated by the so-called opposition control (Choi et…

We propose a unified data-driven reduced order model (ROM) that bridges the performance gap between linear and nonlinear manifold approaches. Deep learning ROM (DL-ROM) using deep-convolutional autoencoders (DC-AE) has been shown to capture…

Creating safe paths in unknown and uncertain environments is a challenging aspect of leader-follower formation control. In this architecture, the leader moves toward the target by taking optimal actions, and followers should also avoid…

Predicting the electrical behavior of the heart, from the cellular scale to the tissue level, relies on the formulation and numerical approximation of coupled nonlinear dynamical systems. These systems describe the cardiac action potential,…

Reinforcement Learning (RL) is a method for learning decision-making tasks that could enable robots to learn and adapt to their situation on-line. For an RL algorithm to be practical for robotic control tasks, it must learn in very few…

We propose Flow-Anchored Noise-conditioned Q-Learning (FAN), a highly efficient and high-performing offline reinforcement learning (RL) algorithm. Recent work has shown that expressive flow policies and distributional critics improve…

In this paper, we propose an equation-based parametric Reduced Order Model (ROM), whose accuracy is improved with data-driven terms added into the reduced equations. These additions have the aim of reintroducing contributions that in…

Diffusion models are powerful generative models that allow for precise control over the characteristics of the generated samples. While these diffusion models trained on large datasets have achieved success, there is often a need to…

In the backdrop of an increasingly pressing need for effective urban and highway transportation systems, this work explores the synergy between model-based and learning-based strategies to enhance traffic flow management by use of an…

This paper focuses on the active flow control (AFC) of the flow over a circular cylinder with synthetic jets through deep reinforcement learning (DRL) by implementing a reward function based on dynamic mode decomposition (DMD). As a main…

Changes in demand, various hydrological inputs, and environmental stressors are among the issues that water managers and policymakers face on a regular basis. These concerns have sparked interest in applying different techniques to…

Dynamic Reinforcement Learning (Dynamic RL), proposed in this paper, directly controls system dynamics, instead of the actor (action-generating neural network) outputs at each moment, bringing about a major qualitative shift in…

Offline reinforcement learning (RL) enables learning control policies by utilizing only prior experience, without any online interaction. This can allow robots to acquire generalizable skills from large and diverse datasets, without any…

We present an online model-based reinforcement learning algorithm suitable for controlling complex robotic systems directly in the real world. Unlike prevailing sim-to-real pipelines that rely on extensive offline simulation and model-free…

This paper proposes a simple strategy for sim-to-real in Deep-Reinforcement Learning (DRL) -- called Roll-Drop -- that uses dropout during simulation to account for observation noise during deployment without explicitly modelling its…

Learning-based adaptive control methods hold the premise of enabling autonomous agents to reduce the effect of process variations with minimal human intervention. However, its application to autonomous underwater vehicles (AUVs) has so far…

Deep reinforcement learning (DRL) is emerging as a powerful tool for fluid-dynamics research, encompassing active flow control, autonomous navigation, turbulence modeling and discovery of novel numerical schemes. We introduce SmartFlow, a…

Autonomous visual navigation is an essential element in robot autonomy. Reinforcement learning (RL) offers a promising policy training paradigm. However existing RL methods suffer from high sample complexity, poor sim-to-real transfer, and…

The current study aims to evaluate and investigate the development of projection-based reduced-order models (ROMs) for efficient and accurate RDE simulations. Specifically, we focus on assessing the projection-based ROM construction…

This paper presents a model-based reinforcement learning (RL) framework for optimal closed-loop control of nonlinear robotic systems. The proposed approach learns linear lifted dynamics through Koopman operator theory and integrates the…