相关论文: Advanced control based on Recurrent Neural Network…

Temporal data modelling techniques with neural networks are useful in many domain applications, including time-series forecasting and control engineering. This paper aims at developing a recurrent version of stochastic configuration…

An increasing trend in the use of neural networks in control systems is being observed. The aim of this paper is to reveal that the straightforward application of learning neural network feedforward controllers with closed-loop data may…

The capability to autonomously track a non-cooperative target is a key technological requirement for micro aerial vehicles. In this paper, we propose an output feedback control scheme based on deep reinforcement learning for controlling a…

Reinforcement Learning (RL)-based control system has received considerable attention in recent decades. However, in many real-world problems, such as Batch Process Control, the environment is uncertain, which requires expensive interaction…

The focus of this paper is an integrated, fault-tolerant vehicle supervisory control algorithm for the overall stability of ground vehicles. Vehicle control systems contain many sensors and actuators that can communicate with each other…

Manually authoring transition animations for a complete locomotion system can be a tedious and time-consuming task, especially for large games that allow complex and constrained locomotion movements, where the number of transitions grows…

In this paper, we consider the periodic reference tracking problem in the framework of batch-mode reinforcement learning, which studies methods for solving optimal control problems from the sole knowledge of a set of trajectories. In…

Adaptive control is subject to stability and performance issues when a learned model is used to enhance its performance. This paper thus presents a deep learning-based adaptive control framework for nonlinear systems with…

Anticipating the future actions of a human is a widely studied problem in robotics that requires spatio-temporal reasoning. In this work we propose a deep learning approach for anticipation in sensory-rich robotics applications. We…

Post-training Large Vision-and-Language Models (LVLMs) typically involves Supervised Fine-Tuning (SFT) for knowledge injection or Reinforcement Learning with Verifiable Rewards (RLVR) for performance enhancement. However, SFT often leads to…

Neural network controllers have shown potential in achieving superior performance in feedback control systems. Although a neural network can be trained efficiently using deep and reinforcement learning methods, providing formal guarantees…

PUBLISHED ON IEEE/ASME TRANSACTIONS ON MECHATRONICS, DOI: 10.1109/TMECH.2021.3100150. Ideally, accurate sensor measurements are needed to achieve a good performance in the closed-loop control of mechatronic systems. As a consequence, sensor…

We describe a method for precisely regulating the gradient magnet power supply at the Fermilab Booster accelerator complex using a neural network trained via reinforcement learning. We demonstrate preliminary results by training a surrogate…

The aim of this work is to investigate the use of Incrementally Input-to-State Stable ($\delta$ISS) deep Long Short Term Memory networks (LSTMs) for the identification of nonlinear dynamical systems. We show that suitable sufficient…

In this paper, we propose a fast reinforcement learning (RL) control algorithm that enables online control of large-scale networked dynamic systems. RL is an effective way of designing model-free linear quadratic regulator (LQR) controllers…

This paper presents a novel approach for steering the state of a stochastic control-affine system to a desired target within a finite time horizon. Our method leverages the time-reversal of diffusion processes to construct the required…

Neural transducer-based systems such as RNN Transducers (RNN-T) for automatic speech recognition (ASR) blend the individual components of a traditional hybrid ASR systems (acoustic model, language model, punctuation model, inverse text…

We study Latent Recurrent Transformer (LRT), a lightweight augmentation of autoregressive transformers that reuses a high-level source-layer hidden state from the previous token as recurrent memory for the next token. Because this source…

Recurrent Neural Networks (RNN), particularly Long Short Term Memory (LSTM) RNNs, are a popular and very successful method for learning and generating sequences. However, current generative RNN techniques do not allow real-time interactive…

It is well-known that inverse dynamics models can improve tracking performance in robot control. These models need to precisely capture the robot dynamics, which consist of well-understood components, e.g., rigid body dynamics, and effects…