相关论文: Uncertainty-aware Contact-safe Model-based Reinfor…

By planning through a learned dynamics model, model-based reinforcement learning (MBRL) offers the prospect of good performance with little environment interaction. However, it is common in practice for the learned model to be inaccurate,…

The ability to achieve precise and smooth trajectory tracking is crucial for ensuring the successful execution of various tasks involving robotic manipulators. State-of-the-art techniques require accurate mathematical models of the robot…

Trial-and-error based reinforcement learning (RL) has seen rapid advancements in recent times, especially with the advent of deep neural networks. However, the majority of autonomous RL algorithms require a large number of interactions with…

The Reinforcement Learning (RL) paradigm has been an essential tool for automating robotic tasks. Despite the advances in RL, it is still not widely adopted in the industry due to the need for an expensive large amount of robot interaction…

The last half-decade has seen a steep rise in the number of contributions on safe learning methods for real-world robotic deployments from both the control and reinforcement learning communities. This article provides a concise but holistic…

Controlling instabilities in complex dynamical systems is challenging in scientific and engineering applications. Deep reinforcement learning (DRL) has seen promising results for applications in different scientific applications. The…

We consider model-based reinforcement learning (MBRL) in 2-agent, high-fidelity continuous control problems -- an important domain for robots interacting with other agents in the same workspace. For non-trivial dynamical systems, MBRL…

Design of process control scheme is critical for quality assurance to reduce variations in manufacturing systems. Taking semiconductor manufacturing as an example, extensive literature focuses on control optimization based on certain…

Reinforcement learning (RL) has shown a promising performance in learning optimal policies for a variety of sequential decision-making tasks. However, in many real-world RL problems, besides optimizing the main objectives, the agent is…

Direct physical interaction with robots is becoming increasingly important in flexible production scenarios, but robots without protective fences also pose a greater risk to the operator. In order to keep the risk potential low, relatively…

Lane change in dense traffic typically requires the recognition of an appropriate opportunity for maneuvers, which remains a challenging problem in self-driving. In this work, we propose a chance-aware lane-change strategy with high-level…

Complex mechanical systems such as vehicle powertrains are inherently subject to multiple nonlinearities and uncertainties arising from parametric variations. Modeling errors are therefore unavoidable, making the transfer of control systems…

Differentiable environments have heralded new possibilities for learning control policies by offering rich differentiable information that facilitates gradient-based methods. In comparison to prevailing model-free reinforcement learning…

Safety-critical robot systems need thorough testing to expose design flaws and software bugs which could endanger humans. Testing in simulation is becoming increasingly popular, as it can be applied early in the development process and does…

This paper develops a model-based reinforcement learning (MBRL) framework for learning online the value function of an infinite-horizon optimal control problem while obeying safety constraints expressed as control barrier functions (CBFs).…

Modern, torque-controlled service robots can regulate contact forces when interacting with their environment. Model Predictive Control (MPC) is a powerful method to solve the underlying control problem, allowing to plan for whole-body…

Recent advances in Multi-modal Large Language Models (MLLMs) have predominantly focused on enhancing visual perception to improve accuracy. However, a critical question remains unexplored: Do models know when they do not know? Through a…

We contribute to micro-data model-based reinforcement learning (MBRL) by rigorously comparing popular generative models using a fixed (random shooting) control agent. We find that on an environment that requires multimodal posterior…

Unlike human beings that can employ the entire surface of their limbs as a means to establish contact with their environment, robots are typically programmed to interact with their environments via their end-effectors, in a collision-free…

In machine learning, meta-learning methods aim for fast adaptability to unknown tasks using prior knowledge. Model-based meta-reinforcement learning combines reinforcement learning via world models with Meta Reinforcement Learning (MRL) for…