相关论文: Flight Controller Synthesis Via Deep Reinforcement…

Deep learning has provided new ways of manipulating, processing and analyzing data. It sometimes may achieve results comparable to, or surpassing human expert performance, and has become a source of inspiration in the era of artificial…

We consider the problem of designing scalable and portable controllers for unmanned aerial vehicles (UAVs) to reach time-varying formations as quickly as possible. This brief confirms that deep reinforcement learning can be used in a…

Resonant power converters offer improved levels of efficiency and power density. In order to implement such systems, advanced control techniques are required to take the most of the power converter. In this context, model predictive control…

We show how a high-performing, fully distributed and symmetric neural V-formation controller can be synthesized from a Centralized MPC (Model Predictive Control) controller using Deep Learning. This result is significant as we also…

The autonomous operation of flexible-wing aircraft is technically challenging and has never been presented within literature. The lack of an exact modeling framework is due to the complex nonlinear aerodynamic relationships governed by the…

To address the computational challenges of Model Predictive Control (MPC), recent research has studied using imitation learning to approximate MPC with a computationally efficient Deep Neural Network (DNN). However, this introduces a common…

Reinforcement learning has emerged as a promising methodology for training robot controllers. However, most results have been limited to simulation due to the need for a large number of samples and the lack of automated-yet-safe data…

Recent years have seen a growing research interest in applications of Deep Neural Networks (DNN) on autonomous vehicle technology. The trend started with perception and prediction a few years ago and it is gradually being applied to motion…

Neural network (NN) controllers achieve strong empirical performance on nonlinear dynamical systems, yet deploying them in safety-critical settings requires robustness to disturbances and uncertainty. We present a method for jointly…

Reinforcement learning has shown great promise for synthesizing realistic human behaviors by learning humanoid control policies from motion capture data. However, it is still very challenging to reproduce sophisticated human skills like…

Unmanned aerial vehicles (UAVs) operating in confined, cluttered environments face significant performance degradation due to nonlinear, time-varying unmodeled dynamics-such as ground/ceiling effects and wake recirculation-that are…

Reinforcement learning is a powerful technique for developing new robot behaviors. However, typical lack of safety guarantees constitutes a hurdle for its practical application on real robots. To address this issue, safe reinforcement…

Deep reinforcement learning can seamlessly transfer agile locomotion and navigation skills from the simulator to real world. However, bridging the sim-to-real gap with domain randomization or adversarial methods often demands expert physics…

Agile flight in complex environments poses significant challenges to current motion planning methods, as they often fail to fully leverage the quadrotor dynamic potential, leading to performance failures and reduced efficiency during…

Deep model-based reinforcement learning methods offer a conceptually simple approach to the decision-making and control problem: use learning for the purpose of estimating an approximate dynamics model, and offload the rest of the work to…

Control barrier functions (CBF) have become popular as a safety filter to guarantee the safety of nonlinear dynamical systems for arbitrary inputs. However, it is difficult to construct functions that satisfy the CBF constraints for high…

In-hand manipulation and grasping are fundamental yet often separately addressed tasks in robotics. For deriving in-hand manipulation policies, reinforcement learning has recently shown great success. However, the derived controllers are…

Cyber-Physical Systems (CPSs) are often safety-critical and deployed in uncertain environments. Identifying scenarios where CPSs do not comply with requirements is fundamental but difficult due to the multidisciplinary nature of CPSs. We…

We address the longstanding challenge of producing flexible, realistic humanoid character controllers that can perform diverse whole-body tasks involving object interactions. This challenge is central to a variety of fields, from graphics…

While deep reinforcement learning (RL) methods have achieved unprecedented successes in a range of challenging problems, their applicability has been mainly limited to simulation or game domains due to the high sample complexity of the…