相关论文: Data-Driven Structured Policy Iteration for Homoge…

This article deals with model- and data-based consensus control of heterogenous leader-following multi-agent systems (MASs) under an event-triggering transmission scheme. A dynamic periodic transmission protocol is developed to…

Distributed linear control design is crucial for large-scale cyber-physical systems. It is generally desirable to both impose information exchange (communication) constraints on the distributed controller, and to limit the propagation of…

Diffusion Policy (DP) has attracted significant attention as an effective method for policy representation due to its capacity to model multi-distribution dynamics. However, current DPs are often based on a single visual modality (e.g., RGB…

We present a policy search method for learning complex feedback control policies that map from high-dimensional sensory inputs to motor torques, for manipulation tasks with discontinuous contact dynamics. We build on a prior technique…

A learning dialogue agent can infer its behaviour from interactions with the users. These interactions can be taken from either human-to-human or human-machine conversations. However, human interactions are scarce and costly, making…

Inspired by biological swarms, robotic swarms are envisioned to solve real-world problems that are difficult for individual agents. Biological swarms can achieve collective intelligence based on local interactions and simple rules; however,…

While imitation learning provides a simple and effective framework for policy learning, acquiring consistent actions during robot execution remains a challenging task. Existing approaches primarily focus on either modifying the action…

This work studies data-driven switched controller design for discrete-time switched linear systems. Instead of having access to the full system dynamics, an initialization phase is performed, during which noiseless measurements of the state…

We present a principled and efficient planning algorithm for collaborative multiagent dynamical systems. All computation, during both the planning and the execution phases, is distributed among the agents; each agent only needs to model and…

This paper presents a new approach to distributed controller design that exploits a partial-structure representation of linear time invariant systems to characterize the structure of a system. This partial-structure representation, called…

Optimal state-feedback controllers, capable of changing between different objective functions, are advantageous to systems in which unexpected situations may arise. However, synthesising such controllers, even for a single objective, is a…

Estimating statistical models within sensor networks requires distributed algorithms, in which both data and computation are distributed across the nodes of the network. We propose a general approach for distributed learning based on…

This article is concerned with data-driven analysis of discrete-time systems under aperiodic sampling, and in particular with a data-driven estimation of the maximum sampling interval (MSI). The MSI is relevant for analysis of and…

In multicenter biomedical research, integrating data from multiple decentralized sites provides more robust and generalizable findings due to its larger sample size and the ability to account for the between-site heterogeneity. However,…

The application of machine learning on tabular data in specialized domains is severely limited by data scarcity. While generative models offer a solution, traditional methods falter in low-data regimes, and recent Large Language Models…

This paper studies data-driven control of unknown sampled-data systems with communication delays under an event-triggering transmission mechanism. Data-based representations for time-invariant linear systems with known or unknown system…

In this paper, we explore a multi-agent reinforcement learning approach to address the design problem of communication and control strategies for multi-agent cooperative transport. Typical end-to-end deep neural network policies may be…

This paper addresses the problem of learning the optimal control policy for a nonlinear stochastic dynamical system with continuous state space, continuous action space and unknown dynamics. This class of problems are typically addressed in…

We consider distributed control of double-integrator networks, where agents are subject to stochastic disturbances. We study performance of such networks in terms of coherence, defined through an H2 norm metric that represents the variance…

The paper presents a complete pipeline for learning continuous motion control policies for a mobile robot when only a non-differentiable physics simulator of robot-terrain interactions is available. The multi-modal state estimation of the…