相关论文: Learning a Unified Control Policy for Safe Falling

Numerically computing global policies to optimal control problems for complex dynamical systems is mostly intractable. In consequence, a number of approximation methods have been developed. However, none of the current methods can quantify…

Multi-task reinforcement learning (RL) aims to find a single policy that effectively solves multiple tasks at the same time. This paper presents a constrained formulation for multi-task RL where the goal is to maximize the average…

In adaptive dynamic programming, neurocontrol and reinforcement learning, the objective is for an agent to learn to choose actions so as to minimise a total cost function. In this paper we show that when discretized time is used to model…

This paper presents a hierarchical framework for Deep Reinforcement Learning that acquires motor skills for a variety of push recovery and balancing behaviors, i.e., ankle, hip, foot tilting, and stepping strategies. The policy is trained…

This paper addresses the problem of planning a safe (i.e., collision-free) trajectory from an initial state to a goal region when the obstacle space is a-priori unknown and is incrementally revealed online, e.g., through line-of-sight…

In this paper, we present a decentralized sensor-level collision avoidance policy for multi-robot systems, which shows promising results in practical applications. In particular, our policy directly maps raw sensor measurements to an…

We consider surveillance-evasion differential games, where a pursuer must try to constantly maintain visibility of a moving evader. The pursuer loses as soon as the evader becomes occluded. Optimal controls for game can be formulated as a…

We present an optimization-based method to plan the motion of an autonomous robot under the uncertainties associated with dynamic obstacles, such as humans. Our method bounds the marginal risk of collisions at each point in time by…

In this paper, we present an approach for generating a variety of whole-body motions for a humanoid robot. We extend the available Model Predictive Control (MPC) approaches for walking on flat terrain to plan for both vertical motion of the…

To widen their accessibility and increase their utility, intelligent agents must be able to learn complex behaviors as specified by (non-expert) human users. Moreover, they will need to learn these behaviors within a reasonable amount of…

Soft robots offer a frontier in robotics with enormous potential for safe human-robot interaction and agility in uncertain environments. A stepping stone towards unlocking their potential is a control theory tailored to soft robotics,…

Humanoid robots could replace humans in hazardous situations but most of such situations are equally dangerous for them, which means that they have a high chance of being damaged and falling. We hypothesize that humanoid robots would be…

We study the class of reach-avoid dynamic games in which multiple agents interact noncooperatively, and each wishes to satisfy a distinct target criterion while avoiding a failure criterion. Reach-avoid games are commonly used to express…

Reinforcement learning has been widely applied to robotic control, but effective policy learning under partial observability remains a major challenge, especially in high-dimensional tasks like humanoid locomotion. To date, no prior work…

Designing control policies for legged locomotion is complex due to the under-actuated and non-continuous robot dynamics. Model-free reinforcement learning provides promising tools to tackle this challenge. However, a major bottleneck of…

Learning high-performance control policies that remain consistent with expert behavior is a fundamental challenge in robotics. Reinforcement learning can discover high-performing strategies but often departs from desirable human behavior,…

This paper studies an optimal control problem for continuous-time stochastic systems subject to reachability objectives specified in a subclass of metric interval temporal logic specifications, a temporal logic with real-time constraints.…

A key challenge in multi-robot and multi-agent systems is generating solutions that are robust to other self-interested or even adversarial parties who actively try to prevent the agents from achieving their goals. The practicality of…

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 propose a neural network approach to model general interaction dynamics and an adjoint based stochastic gradient descent algorithm to calibrate its parameters. The parameter calibration problem is considered as optimal control problem…