相关论文: $\text{H}_{\infty}$ Tracking Control via Variable …

Deep regression trackers are among the fastest tracking algorithms available, and therefore suitable for real-time robotic applications. However, their accuracy is inadequate in many domains due to distribution shift and overfitting. In…

The sudden onset of deleterious and oscillatory dynamics (often called instabilities) is a known challenge in many fluid, plasma, and aerospace systems. These dynamics are difficult to address because they are nonlinear, chaotic, and are…

In this paper we propose a solution to the problem of parameter estimation of nonlinearly parameterized regressions--continuous or discrete time--and apply it for system identification and adaptive control. We restrict our attention to…

Inventory control in modern supply chains has attracted significant attention due to the increasing number of disruptive shocks and the challenges posed by complex dynamics, uncertainties, and limited collaboration. Traditional methods,…

In this work we seek for an approach to integrate safety in the learning process that relies on a partly known state-space model of the system and regards the unknown dynamics as an additive bounded disturbance. We introduce a framework for…

Learning continuous control in high-dimensional sparse reward settings, such as robotic manipulation, is a challenging problem due to the number of samples often required to obtain accurate optimal value and policy estimates. While many…

This paper develops a sparsity-promoting integral concurrent learning (SP-ICL) adaptation law for a linearly parametrized uncertain nonlinear control-affine system. The unknown parameters are learned using ICL with sparsity-promoting…

Instruction tuning effectively optimizes Large Language Models (LLMs) for downstream tasks. Due to the changing environment in real-life applications, LLMs necessitate continual task-specific adaptation without catastrophic forgetting.…

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,…

Intensity control is a class of continuous-time dynamic optimization problems with many important applications in Operations Research including queueing and revenue management. In this study, we propose a practical continuous-time…

This paper focuses on the development of an online inverse reinforcement learning (IRL) technique for a class of nonlinear systems. The developed approach utilizes observed state and input trajectories, and determines the unknown cost…

In this paper, we consider continuous-time stochastic optimal control problems where the cost is evaluated through a coherent risk measure. We provide an explicit gradient descent-ascent algorithm which applies to problems subject to…

This paper investigates different vector step-size adaptation approaches for non-stationary online, continual prediction problems. Vanilla stochastic gradient descent can be considerably improved by scaling the update with a vector of…

Learning new tasks accumulatively without forgetting remains a critical challenge in continual learning. Generative experience replay addresses this challenge by synthesizing pseudo-data points for past learned tasks and later replaying…

Linear Quadratic Regulator (LQR) is often combined with feedback linearization (FBL) for nonlinear systems that have the nonlinearity additive to the input. Conventional approaches estimate and cancel the nonlinearity based on the first…

Iterative trajectory optimization techniques for non-linear dynamical systems are among the most powerful and sample-efficient methods of model-based reinforcement learning and approximate optimal control. By leveraging time-variant local…

Many real-world domains are subject to a structured non-stationarity which affects the agent's goals and the environmental dynamics. Meta-reinforcement learning (RL) has been shown successful for training agents that quickly adapt to…

The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…

We propose a parameterization of a nonlinear dynamic controller based on the recurrent equilibrium network, a generalization of the recurrent neural network. We derive constraints on the parameterization under which the controller…

Model-free reinforcement learning (RL) is inherently a reactive method, operating under the assumption that it starts with no prior knowledge of the system and entirely depends on trial-and-error for learning. This approach faces several…