相关论文: Online Policies for Real-Time Control Using MRAC-R…

As learning-based robotic controllers are typically trained offline and deployed with fixed parameters, their ability to cope with unforeseen changes during operation is limited. Biologically inspired, this work presents a framework for…

Model-based offline reinforcement learning (MORL) aims to learn a policy by exploiting a dynamics model derived from an existing dataset. Applying conservative quantification to the dynamics model, most existing works on MORL generate…

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, the inverse reinforcement learning (IRL) problem is addressed to reconstruct the unknown cost function underlying an observed optimal policy in a model-free manner, whose online adaptation with completely off-policy system…

Conventional reinforcement learning (RL) needs an environment to collect fresh data, which is impractical when online interactions are costly. Offline RL provides an alternative solution by directly learning from the previously collected…

Data-driven model predictive control (MPC) has demonstrated significant potential for improving robot control performance in the presence of model uncertainties. However, existing approaches often require extensive offline data collection…

Reinforcement Learning (RL) is an effective method for robots to learn tasks. However, in typical RL, end-users have little to no control over how the robot does the task after the robot has been deployed. To address this, we introduce the…

When using a tool, the grasps used for picking it up, reposing, and holding it in a suitable pose for the desired task could be distinct. Therefore, a key challenge for autonomous in-hand tool manipulation is finding a sequence of grasps…

Reinforcement learning (RL) has exceeded human performance in many synthetic settings such as video games and Go. However, real-world deployment of end-to-end RL models is less common, as RL models can be very sensitive to slight…

In the backdrop of an increasingly pressing need for effective urban and highway transportation systems, this work explores the synergy between model-based and learning-based strategies to enhance traffic flow management by use of an…

Action-constrained reinforcement learning (ACRL) is a generic framework for learning control policies with zero action constraint violation, which is required by various safety-critical and resource-constrained applications. The existing…

The goal of model reference adaptive control (MRAC) is to ensure that the trajectories of an unknown dynamical system track those of a given reference model. This is done by means of a feedback controller that adaptively changes its gains…

Reinforcement learning (RL) in low-data and risk-sensitive domains requires performant and flexible deployment policies that can readily incorporate constraints during deployment. One such class of policies are the semi-parametric H-step…

It is typically proven in adaptive control that asymptotic stabilization and tracking holds, and that at best a bounded-noise bounded-state property is proven. Recently, it has been shown in both the pole-placement control and the $d$-step…

A key barrier to using reinforcement learning (RL) in many real-world applications is the requirement of a large number of system interactions to learn a good control policy. Off-policy and Offline RL methods have been proposed to reduce…

Offline reinforcement learning (RL) enables learning effective policies from fixed datasets without any environment interaction. Existing methods typically employ policy constraints to mitigate the distribution shift encountered during…

Dynamic radio resource management (RRM) in wireless networks presents significant challenges, particularly in the context of Radio Access Network (RAN) slicing. This technology, crucial for catering to varying user requirements, often…

Modern decision-making systems, from robots to web recommendation engines, are expected to adapt: to user preferences, changing circumstances or even new tasks. Yet, it is still uncommon to deploy a dynamically learning agent (rather than a…

One of the main challenges in reinforcement learning (RL) is that the agent has to make decisions that would influence the future performance without having complete knowledge of the environment. Dynamically adjusting the level of epistemic…

Real-time adaptation is imperative to the control of robots operating in complex, dynamic environments. Adaptive control laws can endow even nonlinear systems with good trajectory tracking performance, provided that any uncertain dynamics…