相关论文: Deep Kernels for Optimizing Locomotion Controllers

Hyperparameter optimization aims to find the optimal hyperparameter configuration of a machine learning model, which provides the best performance on a validation dataset. Manual search usually leads to get stuck in a local hyperparameter…

This paper presents a global trajectory optimization framework for minimizing lap time in autonomous racing under uncertain vehicle dynamics. Optimizing the trajectory over the full racing horizon is computationally expensive, and tracking…

Model-based reinforcement learning (RL) algorithms can attain excellent sample efficiency, but often lag behind the best model-free algorithms in terms of asymptotic performance. This is especially true with high-capacity parametric…

Control auto-tuning for industrial and robotic systems, when framed as an optimization problem, provides an excellent means to tune these systems. However, most optimization methods are computationally costly, and this is problematic for…

Sampling-based planning is the predominant paradigm for motion planning in robotics. Most sampling-based planners use a global random sampling scheme to guarantee probabilistic completeness. However, most schemes are often inefficient as…

Simulation is increasingly being used for generating large labelled datasets in many machine learning problems. Recent methods have focused on adjusting simulator parameters with the goal of maximising accuracy on a validation task, usually…

While learning from synthetic training data has recently gained an increased attention, in real-world robotic applications, there are still performance deficiencies due to the so-called Sim-to-Real gap. In practice, this gap is hard to…

This work developed a kernel-based residual learning framework for quadrupedal robotic locomotion. Initially, a kernel neural network is trained with data collected from an MPC controller. Alongside a frozen kernel network, a residual…

Optimization of high-dimensional black-box functions is an extremely challenging problem. While Bayesian optimization has emerged as a popular approach for optimizing black-box functions, its applicability has been limited to…

We focus on developing efficient and reliable policy optimization strategies for robot learning with real-world data. In recent years, policy gradient methods have emerged as a promising paradigm for training control policies in simulation.…

Estimation of physical quantities is at the core of most scientific research and the use of quantum devices promises to enhance its performances. In real scenarios, it is fundamental to consider that the resources are limited and Bayesian…

The learning rate is one of the most important hyperparameters in deep learning, and how to control it is an active area within both AutoML and deep learning research. Approaches for learning rate control span from classic optimization to…

Sampling-based kinodynamic planners, such as Rapidly-exploring Random Trees (RRTs), pose two fundamental challenges: computing a reliable (pseudo-)metric for the distance between two randomly sampled nodes, and computing a steering input to…

Recent advancements in large language models (LLMs) have significantly improved code generation and program comprehension, accelerating the evolution of software engineering. Current methods primarily enhance model performance by leveraging…

Many important problems in science and engineering, such as drug design, involve optimizing an expensive black-box objective function over a complex, high-dimensional, and structured input space. Although machine learning techniques have…

Controller tuning is crucial for closed-loop performance but often involves manual adjustments. Although Bayesian optimization (BO) has been established as a data-efficient method for automated tuning, applying it to large and…

This paper presents a sample-efficient data-driven method to design model predictive control (MPC) for cable-actuated soft robotics using Bayesian optimization. Instead of modeling the complex dynamics of the soft robots, the proposed…

Imitation learning is a promising approach to help robots acquire dexterous manipulation capabilities without the need for a carefully-designed reward or a significant computational effort. However, existing imitation learning approaches…

Deep neural network training often involves stochastic optimization, meaning each run will produce a different model. This implies that hyperparameters of the training process, such as the random seed itself, can potentially have…

We present a scalable algorithm for learning parametric constraints in high dimensions from safe expert demonstrations. To reduce the ill-posedness of the constraint recovery problem, our method uses hit-and-run sampling to generate lower…