相关论文: A statistical learning strategy for closed-loop co…

In this paper, we propose a reinforcement learning-based algorithm for trajectory optimization for constrained dynamical systems. This problem is motivated by the fact that for most robotic systems, the dynamics may not always be known.…

In this work we propose an approach to learn a robust policy for solving the pivoting task. Recently, several model-free continuous control algorithms were shown to learn successful policies without prior knowledge of the dynamics of the…

This study investigates active flow control in two-dimensional flows at a Reynolds number of 100 using Deep Reinforcement Learning (DRL). We utilize DRL to develop flow control strategies that enhance energy efficiency and minimize energy…

Many of the challenges facing today's reinforcement learning (RL) algorithms, such as robustness, generalization, transfer, and computational efficiency are closely related to compression. Prior work has convincingly argued why minimizing…

Practitioners often rely on compute-intensive domain randomization to ensure reinforcement learning policies trained in simulation can robustly transfer to the real world. Due to unmodeled nonlinearities in the real system, however, even…

Learning-based control methods typically assume stationary system dynamics, an assumption often violated in real-world systems due to drift, wear, or changing operating conditions. We study reinforcement learning for control under…

Reinforcement learning provides a framework for learning to control which actions to take towards completing a task through trial-and-error. In many applications observing interactions is costly, necessitating sample-efficient learning. In…

We construct a data-driven dynamical system model for a macroscopic variable the Reynolds number of a high-dimensionally chaotic fluid flow by training its scalar time-series data. We use a machine-learning approach, the reservoir computing…

We propose a certainty-equivalence scheme for adaptive control of scalar linear systems subject to additive, i.i.d. Gaussian disturbances and bounded control input constraints, without requiring prior knowledge of the bounds of the system…

Thompson sampling (TS) is a Bayesian randomized exploration strategy that samples options (e.g., system parameters or control laws) from the current posterior and then applies the selected option that is optimal for a task, thereby…

Flow control is of interest in many open and wall-bounded shear flows in order to reduce drag or to avoid sudden large fluctuations that may lead to material failure. An established means of control is the application of suction through a…

Most of the current studies on autonomous vehicle decision-making and control tasks based on reinforcement learning are conducted in simulated environments. The training and testing of these studies are carried out under rule-based…

Motile microorganisms develop effective swimming gaits to adapt to complex biological environments. Translating this adaptability to smart microrobots presents significant challenges in motion planning and stroke design. In this work, we…

It is well known that deep generative models have a rich latent space, and that it is possible to smoothly manipulate their outputs by traversing this latent space. Recently, architectures have emerged that allow for more complex…

Steering large-scale swarms with only limited control updates is often needed due to communication or computational constraints, yet most learning-based approaches do not account for this and instead model instantaneous velocity fields. As…

Efficient decision-making over continuously changing data is essential for many application domains such as cyber-physical systems, industry digitalization, etc. Modern stream reasoning frameworks allow one to model and solve various…

This paper presents a strictly convex chance-constrained stochastic control framework that accounts for uncertainty in control specifications such as reference trajectories and operational constraints. By jointly optimizing control inputs…

Efficient point-to-point navigation in the presence of a background flow field is important for robotic applications such as ocean surveying. In such applications, robots may only have knowledge of their immediate surroundings or be faced…

This paper presents a machine learning approach for tuning the parameters of a family of stabilizing controllers for orbital tracking. An augmented random search algorithm is deployed, which aims at minimizing a cost function combining…

Regressing the vector field of a dynamical system from a finite number of observed states is a natural way to learn surrogate models for such systems. A simple and interpretable way to learn a dynamical system from data is to interpolate…