相关论文: RLOC: Neurobiologically Inspired Hierarchical Rein…

Recent advances in multimodal vision-language-action (VLA) models have revolutionized traditional robot learning, enabling systems to interpret vision, language, and action in unified frameworks for complex task planning. However, mastering…

There has recently been an increased interest in reinforcement learning for nonlinear control problems. However standard reinforcement learning algorithms can often struggle even on seemingly simple set-point control problems. This paper…

Neural operator methods have emerged as powerful tools for learning mappings between infinite-dimensional function spaces, yet their potential in optimal control remains largely unexplored. We focus on multi-task control problems, whose…

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…

Reinforcement learning (RL) is effective in many robotic applications, but it requires extensive exploration of the state-action space, during which behaviors can be unsafe. This significantly limits its applicability to large robots with…

In this paper, further extensions of the result of the paper "A successive approximation method in functional spaces for hierarchical optimal control problems and its application to learning, arXiv:2410.20617 [math.OC], 2024" concerning a…

Humans have internal models of robots (like their physical capabilities), the world (like what will happen next), and their tasks (like a preferred goal). However, human internal models are not always perfect: for example, it is easy to…

In this work, we focus on a robotic unloading problem from visual observations, where robots are required to autonomously unload stacks of parcels using RGB-D images as their primary input source. While supervised and imitation learning…

This paper presents an interpretable reward design framework for reinforcement learning based constrained optimal control problems with state and terminal constraints. The problem is formalized within a standard partially observable Markov…

Health-aware control (HAC) has emerged as one of the domains where control synthesis is sought based upon the failure prognostics of system/component or the Remaining Useful Life (RUL) predictions of critical components. The fact that…

Work-Related Musculoskeletal Disorders continue to be a major challenge in industrial environments, leading to reduced workforce participation, increased healthcare costs, and long-term disability. This study introduces a human-sensitive…

Reinforcement learning (RL) has demonstrated impressive performance in legged locomotion over various challenging environments. However, due to the sim-to-real gap and lack of explainability, unconstrained RL policies deployed in the real…

We address the problem of learning to control an unknown nonlinear dynamical system through sequential interactions. Motivated by high-stakes applications in which mistakes can be catastrophic, such as robotics and healthcare, we study…

This paper presents a novel methodology for tractably solving optimal control and offline reinforcement learning problems for high-dimensional systems. This work is motivated by the ongoing challenges of safety, computation, and optimality…

We propose controller synthesis for state regulation problems in which a human operator shares control with an autonomy system, running in parallel. The autonomy system continuously improves over human action, with minimal intervention, and…

Open-ended learning benefits immensely from the use of symbolic methods for goal representation as they offer ways to structure knowledge for efficient and transferable learning. However, the existing Hierarchical Reinforcement Learning…

Learning composable policies for environments with complex rules and tasks is a challenging problem. We introduce a hierarchical reinforcement learning framework called the Logical Options Framework (LOF) that learns policies that are…

This paper presents a control framework that combines model-based optimal control and reinforcement learning (RL) to achieve versatile and robust legged locomotion. Our approach enhances the RL training process by incorporating on-demand…

Hierarchical learning (HL) is key to solving complex sequential decision problems with long horizons and sparse rewards. It allows learning agents to break-up large problems into smaller, more manageable subtasks. A common approach to HL,…

We study online control for continuous-time linear systems with finite sampling rates, where the objective is to design an online procedure that learns under non-stochastic noise and performs comparably to a fixed optimal linear controller.…