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

Reinforcement learning (RL) provides an appealing formalism for learning control policies from experience. However, the classic active formulation of RL necessitates a lengthy active exploration process for each behavior, making it…

Offline reinforcement learning (RL) aims at learning a good policy from a batch of collected data, without extra interactions with the environment during training. However, current offline RL benchmarks commonly have a large reality gap,…

This paper presents extensions of finite-time stability results to some prototypical adaptive control and estimation frameworks. First, we present a novel scheme of online parameter estimation that guarantees convergence of the estimation…

Robust model predictive control (MPC) is a well-known control technique for model-based control with constraints and uncertainties. In classic robust tube-based MPC approaches, an open-loop control sequence is computed via periodically…

Reinforcement learning (RL) has shown great effectiveness in quadrotor control, enabling specialized policies to develop even human-champion-level performance in single-task scenarios. However, these specialized policies often struggle with…

A prevailing approach for learning visuomotor policies is to employ reinforcement learning to map high-dimensional visual observations directly to action commands. However, the combination of high-dimensional visual inputs and agile…

Meta-learning is a branch of machine learning which trains neural network models to synthesize a wide variety of data in order to rapidly solve new problems. In process control, many systems have similar and well-understood dynamics, which…

Offline reinforcement learning (RL) provides a promising direction to exploit massive amount of offline data for complex decision-making tasks. Due to the distribution shift issue, current offline RL algorithms are generally designed to be…

In offline reinforcement learning (RL), the goal is to learn a highly rewarding policy based solely on a dataset of historical interactions with the environment. The ability to train RL policies offline can greatly expand the applicability…

Traffic signal control is an important problem in urban mobility with a significant potential of economic and environmental impact. While there is a growing interest in Reinforcement Learning (RL) for traffic signal control, the work so far…

One of the key challenges in applying reinforcement learning to complex robotic control tasks is the need to gather large amounts of experience in order to find an effective policy for the task at hand. Model-based reinforcement learning…

The combination of policy search and deep neural networks holds the promise of automating a variety of decision-making tasks. Model Predictive Control (MPC) provides robust solutions to robot control tasks by making use of a dynamical model…

We introduce an offline reinforcement learning (RL) algorithm that explicitly clones a behavior policy to constrain value learning. In offline RL, it is often important to prevent a policy from selecting unobserved actions, since the…

Recent work in Offline Reinforcement Learning (RL) has shown that a unified Transformer trained under a masked auto-encoding objective can effectively capture the relationships between different modalities (e.g., states, actions, rewards)…

We propose an approach to online model adaptation and control in the challenging case of hybrid and discontinuous dynamics where actions may lead to difficult-to-escape "trap" states, under a given controller. We first learn dynamics for a…

Sampling-based model predictive control (MPC) has found significant success in optimal control problems with non-smooth system dynamics and cost function. Many machine learning-based works proposed to improve MPC by a) learning or…

Model-based offline Reinforcement Learning (RL) constructs environment models from offline datasets to perform conservative policy optimization. Existing approaches focus on learning state transitions through ensemble models, rollouting…

In many real-world settings, reinforcement learning systems suffer performance degradation when the environment encountered at deployment differs from that observed during training. Distributionally robust reinforcement learning (DR-RL)…

Robotic systems driven by artificial muscles present unique challenges due to the nonlinear dynamics of actuators and the complex designs of mechanical structures. Traditional model-based controllers often struggle to achieve desired…

This paper presents the application of a Distributed Model Reference Adaptive Control (DMRAC) strategy for robust multi-agent synchronization of a network of drones. The proposed approach enables the development of controllers capable of…