相关论文: Critic-Only Integral Reinforcement Learning Driven…

Current Reinforcement Learning (RL) is often limited by the large amount of data needed to learn a successful policy. Offline RL aims to solve this issue by using transitions collected by a different behavior policy. We address a novel…

Achieving highly dynamic behaviors on humanoid robots, such as running, requires controllers that are both robust and precise, and hence difficult to design. Classical control methods offer valuable insight into how such systems can…

A novel dynamic model-based trajectory tracking control law is proposed for a four-wheel differentially driven mobile robot using a backstepping technique that guarantees the Lyapunov stability. The present work improves the work of…

Curriculum Reinforcement Learning (CRL) aims to create a sequence of tasks, starting from easy ones and gradually learning towards difficult tasks. In this work, we focus on the idea of framing CRL as interpolations between a source…

This paper proposes a safe reinforcement learning (RL) algorithm that approximately solves the state-constrained optimal control problem for continuous-time uncertain nonlinear systems. We formulate the safe RL problem as the minimization…

We investigate the ability of transformers to perform in-context reinforcement learning (ICRL), where a model must infer and execute learning algorithms from trajectory data without parameter updates. We show that a linear self-attention…

In-context reinforcement learning (ICRL) is an emerging RL paradigm where an agent, after pretraining, can adapt to out-of-distribution test tasks without any parameter updates, instead relying on an expanding context of interaction…

We present a novel guidance law that uses observations consisting solely of seeker line of sight angle measurements and their rate of change. The policy is optimized using reinforcement meta-learning and demonstrated in a simulated terminal…

Drifting, characterized by controlled vehicle motion at high sideslip angles, is crucial for safely handling emergency scenarios at the friction limits. While recent reinforcement learning approaches show promise for drifting control, they…

This paper addresses the problem of online inverse reinforcement learning for systems with limited data and uncertain dynamics. In the developed approach, the state and control trajectories are recorded online by observing an agent perform…

Reinforcement learning (RL) is an area of significant research interest, and safe RL in particular is attracting attention due to its ability to handle safety-driven constraints that are crucial for real-world applications. This work…

This paper presents a new formulation for model-free robust optimal regulation of continuous-time nonlinear systems. The proposed reinforcement learning based approach, referred to as incremental adaptive dynamic programming (IADP),…

The proliferation of unmanned aerial vehicles (UAVs) in controlled airspace presents significant risks, including potential collisions, disruptions to air traffic, and security threats. Ensuring the safe and efficient operation of airspace,…

We address the tracking problem for a class of uncertain non-affine nonlinear systems with high relative degrees, performing non-repetitive tasks. We propose a rigorously proven, robust adaptive learning control scheme that relies on a…

The goal of reinforcement learning (RL) is to find a policy that maximizes the expected cumulative return. It has been shown that this objective can be represented as an optimization problem of state-action visitation distribution under…

In offline reinforcement learning (RL) an optimal policy is learned solely from a priori collected observational data. However, in observational data, actions are often confounded by unobserved variables. Instrumental variables (IVs), in…

PID control has been the dominant control strategy in the process industry due to its simplicity in design and effectiveness in controlling a wide range of processes. However, traditional methods on PID tuning often require extensive domain…

Deep Reinforcement Learning (DRL) has been applied successfully to many robotic applications. However, the large number of trials needed for training is a key issue. Most of existing techniques developed to improve training efficiency (e.g.…

Inverse Reinforcement Learning (IRL) learns a reward function to explain expert demonstrations. Modern IRL methods often use the adversarial (minimax) formulation that alternates between reward and policy optimization, which often lead to…

In this paper, constrained parameter update laws for adaptive control with convex equality constraint on the parameters are developed, one based on a gradient only update and the other incorporating concurrent learning (CL) update. The…