相关论文: Improving Input-Output Linearizing Controllers for…

Control design for general nonlinear robotic systems with guaranteed stability and/or safety in the presence of model uncertainties is a challenging problem. Recent efforts attempt to learn a controller and a certificate (e.g., a Lyapunov…

Learning-based control methods typically assume stationary system dynamics, an assumption often violated in real-world systems due to drift, wear, or changing operating conditions. We study reinforcement learning for control under…

Robust output regulation for linear time-varying systems has remained an open problem for decades. To address this, we propose the trajectory-matching system immersion framework, by reformulating the regulator equation into a more…

This paper presents a novel approach that combines the advantages of both model-based and learning-based frameworks to achieve robust locomotion. The residual modules are integrated with each corresponding part of the model-based framework,…

Humanoid robots that can autonomously operate in diverse environments have the potential to help address labour shortages in factories, assist elderly at homes, and colonize new planets. While classical controllers for humanoid robots have…

Learned optimizers -- neural networks that are trained to act as optimizers -- have the potential to dramatically accelerate training of machine learning models. However, even when meta-trained across thousands of tasks at huge…

This paper proposes a framework for adaptively learning a feedback linearization-based tracking controller for an unknown system using discrete-time model-free policy-gradient parameter update rules. The primary advantage of the scheme over…

Deep reinforcement learning (RL) has emerged as a promising approach for autonomously acquiring complex behaviors from low level sensor observations. Although a large portion of deep RL research has focused on applications in video games…

Reinforcement learning is a general methodology of adaptive optimal control that has attracted much attention in various fields ranging from video game industry to robot manipulators. Despite its remarkable performance demonstrations, plain…

We generalize the well-studied problem of gait learning in modular robots in two dimensions. Firstly, we address locomotion in a given target direction that goes beyond learning a typical undirected gait. Secondly, rather than studying one…

We present a novel approach to control design for nonlinear systems which leverages model-free policy optimization techniques to learn a linearizing controller for a physical plant with unknown dynamics. Feedback linearization is a…

The ability to recover from an unexpected external perturbation is a fundamental motor skill in bipedal locomotion. An effective response includes the ability to not just recover balance and maintain stability but also to fall in a safe…

Recently, work on reinforcement learning (RL) for bipedal robots has successfully learned controllers for a variety of dynamic gaits with robust sim-to-real demonstrations. In order to maintain balance, the learned controllers have full…

Machine and reinforcement learning (RL) are increasingly being applied to plan and control the behavior of autonomous systems interacting with the physical world. Examples include self-driving vehicles, distributed sensor networks, and…

Quadruped robots have strong adaptability to extreme environments but may also experience faults. Once these faults occur, robots must be repaired before returning to the task, reducing their practical feasibility. One prevalent concern…

Reinforcement learning (RL) exhibits impressive performance when managing complicated control tasks for robots. However, its wide application to physical robots is limited by the absence of strong safety guarantees. To overcome this…

Bipedal walking is one of the most difficult but exciting challenges in robotics. The difficulties arise from the complexity of high-dimensional dynamics, sensing and actuation limitations combined with real-time and computational…

To create efficient-high performing processes, one must find an optimal design with its corresponding controller that ensures optimal operation in the presence of uncertainty. When comparing different process designs, for the comparison to…

We investigate the important problem of certifying stability of reinforcement learning policies when interconnected with nonlinear dynamical systems. We show that by regulating the input-output gradients of policies, strong guarantees of…

Model-based reinforcement learning attempts to use an available or learned model to improve the data efficiency of reinforcement learning. This work proposes a one-step lookback approach that jointly learns the deep incremental model and…