相关论文: Towards Generalization and Simplicity in Continuou…

To perform manipulation tasks in the real world, robots need to operate on objects with various shapes, sizes and without access to geometric models. It is often unfeasible to train monolithic neural network policies across such large…

We consider numerical approaches for deterministic, finite-dimensional optimal control problems whose dynamics depend on unknown or uncertain parameters. We seek to amortize the solution over a set of relevant parameters in an offline stage…

Due to the realization that deep reinforcement learning algorithms trained on high-dimensional tasks can strongly overfit to their training environments, there have been several studies that investigated the generalization performance of…

Designing effective model-based reinforcement learning algorithms is difficult because the ease of data generation must be weighed against the bias of model-generated data. In this paper, we study the role of model usage in policy…

Reinforcement learning (RL), while powerful and expressive, can often prioritize performance at the expense of safety. Yet safety violations can lead to catastrophic outcomes in real-world deployments. Control Barrier Functions (CBFs) offer…

This paper examines reinforcement learning (RL) in infinite-horizon decision processes with almost-sure safety constraints, crucial for applications like autonomous systems, finance, and resource management. We propose a doubly-regularized…

While reinforcement learning has made great improvements, state-of-the-art algorithms can still struggle with seemingly simple set-point feedback control problems. One reason for this is that the learned controller may not be able to excite…

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…

Optimal control of the future is the next frontier for AI. Current approaches to this problem are typically rooted in reinforcement learning (RL). RL is mathematically distinct from supervised learning, which has been the main workhorse for…

Optimal state-feedback controllers, capable of changing between different objective functions, are advantageous to systems in which unexpected situations may arise. However, synthesising such controllers, even for a single objective, is a…

We investigate the important problem of certifying stability of reinforcement learning policies when interconnected with nonlinear dynamical systems. We show that by regulating the input-output gradients of policies, strong guarantees of…

When deploying autonomous agents in unstructured environments over sustained periods of time, adaptability and robustness oftentimes outweigh optimality as a primary consideration. In other words, safety and survivability constraints play a…

Trainable activation functions, whose parameters are optimized alongside network weights, offer increased expressivity compared to fixed activation functions. Specifically, trainable activation functions defined as ratios of polynomials…

In addressing control problems such as regulation and tracking through reinforcement learning, it is often required to guarantee that the acquired policy meets essential performance and stability criteria such as a desired settling time and…

Controlling large swarms of robotic agents presents many challenges including, but not limited to, computational complexity due to a large number of agents, uncertainty in the functionality of each agent in the swarm, and uncertainty in the…

Receding horizon control (RHC) is a popular procedure to deal with optimal control problems. Due to the existence of state constraints, optimization-based RHC often suffers the notorious issue of infeasibility, which strongly shrinks the…

Through the method of Learning Feedback Linearization, we seek to learn a linearizing controller to simplify the process of controlling a car to race autonomously. A soft actor-critic approach is used to learn a decoupling matrix and drift…

Control barrier function (CBF) has recently started to serve as a basis to develop approaches for enforcing safety requirements in control systems. However, constructing such function for a general system is a non-trivial task. This paper…

A common theme in all the above areas is designing a dynamical system to accomplish desired objectives, possibly in some predefined optimal way. Since control theory advances the idea of suitably modifying the behavior of a dynamical…

Can we use reinforcement learning to learn general-purpose policies that can perform a wide range of different tasks, resulting in flexible and reusable skills? Contextual policies provide this capability in principle, but the…