相关论文: Combining system identification with reinforcement…

In this paper we describe a new conceptual framework that connects approximate Dynamic Programming (DP), Model Predictive Control (MPC), and Reinforcement Learning (RL). This framework centers around two algorithms, which are designed…

Recent breakthroughs both in reinforcement learning and trajectory optimization have made significant advances towards real world robotic system deployment. Reinforcement learning (RL) can be applied to many problems without needing any…

In this paper, we leverage the rapid advances in imitation learning, a topic of intense recent focus in the Reinforcement Learning (RL) literature, to develop new sample complexity results and performance guarantees for data-driven Model…

Reinforcement learning (RL) algorithms for real-world robotic applications need a data-efficient learning process and the ability to handle complex, unknown dynamical systems. These requirements are handled well by model-based and…

Deep reinforcement learning (RL) has shown immense potential for learning to control systems through data alone. However, one challenge deep RL faces is that the full state of the system is often not observable. When this is the case, the…

In this paper, we propose a reinforcement learning-based algorithm for trajectory optimization for constrained dynamical systems. This problem is motivated by the fact that for most robotic systems, the dynamics may not always be known.…

Two common approaches to sequential decision-making are AI planning (AIP) and reinforcement learning (RL). Each has strengths and weaknesses. AIP is interpretable, easy to integrate with symbolic knowledge, and often efficient, but requires…

Reinforcement learning (RL) algorithms aim to learn optimal decisions in unknown environments through experience of taking actions and observing the rewards gained. In some cases, the environment is not influenced by the actions of the RL…

We propose a new approach to value function approximation which combines linear temporal difference reinforcement learning with subspace identification. In practical applications, reinforcement learning (RL) is complicated by the fact that…

In Europe, profit-seeking balance responsible parties can deviate in real time from their day-ahead nominations to assist transmission system operators in maintaining the supply-demand balance. Model predictive control (MPC) strategies to…

Self-paced reinforcement learning (RL) aims to improve the data efficiency of learning by automatically creating sequences, namely curricula, of probability distributions over contexts. However, existing techniques for self-paced RL fail in…

Modern engineering systems, such as autonomous vehicles, flexible robotics, and intelligent aerospace platforms, require controllers that are robust to uncertainties, adaptive to environmental changes, and safety-aware under real-time…

In this paper, we present a robotic model-based reinforcement learning method that combines ideas from model identification and model predictive control. We use a feature-based representation of the dynamics that allows the dynamics model…

Reinforcement learning (RL) is a framework to optimize a control policy using rewards that are revealed by the system as a response to a control action. In its standard form, RL involves a single agent that uses its policy to accomplish a…

Numerous research studies have been conducted to enhance the resilience of cyber-physical systems (CPSs) by detecting potential cyber or physical disturbances. However, the development of scalable and optimal response measures under power…

Model Predictive Control (MPC) is attracting tremendous attention in the autonomous driving task as a powerful control technique. The success of an MPC controller strongly depends on an accurate internal dynamics model. However, the static…

Continuous Integration and Continuous Deployment (CI/CD) pipelines are central to modern software delivery, yet their static workflows often introduce inefficiencies as systems scale. This paper proposes a reinforcement learning (RL) based…

Learning by interaction is the key to skill acquisition for most living organisms, which is formally called Reinforcement Learning (RL). RL is efficient in finding optimal policies for endowing complex systems with sophisticated behavior.…

This paper targets the efficient construction of a safety shield for decision making in scenarios that incorporate uncertainty. Markov decision processes (MDPs) are prominent models to capture such planning problems. Reinforcement learning…

Model Predictive Control (MPC) is an enabling technology in applications requiring controlling physical processes in an optimized way under constraints on inputs and outputs. However, in MPC closed-loop performance is pushed to the limits…