相关论文: Generalized Reinforcement Learning for Building Co…

Improving system-level resiliency of networked microgrids is an important aspect with increased population of inverter-based resources (IBRs). This paper (1) presents resilient control design in presence of adversarial cyber-events, and…

Optimal setting of several hyper-parameters in machine learning algorithms is key to make the most of available data. To this aim, several methods such as evolutionary strategies, random search, Bayesian optimization and heuristic rules of…

Reinforcement Learning (RL) has proven a stunning ability to learn optimal policies from data without any prior knowledge on the process. The main drawback of RL is that it is typically very difficult to guarantee stability and safety. On…

The decarbonization of buildings presents new challenges for the reliability of the electrical grid as a result of the intermittency of renewable energy sources and increase in grid load brought about by end-use electrification. To restore…

Traditional power grid systems have become obsolete under more frequent and extreme natural disasters. Reinforcement learning (RL) has been a promising solution for resilience given its successful history of power grid control. However,…

Due to the proliferation of renewable energy and its intrinsic intermittency and stochasticity, current power systems face severe operational challenges. Data-driven decision-making algorithms from reinforcement learning (RL) offer a…

We propose a method to encourage safety in Model Predictive Control (MPC)-based Reinforcement Learning (RL) via Gaussian Process (GP) regression. This framework consists of 1) a parametric MPC scheme that is employed as model-based…

Robots and autonomous agents often complete goal-based tasks with limited resources, relying on imperfect models and sensor measurements. In particular, reinforcement learning (RL) and feedback control can be used to help a robot achieve a…

As Exascale computing becomes a reality, the energy needs of compute nodes in cloud data centers will continue to grow. A common approach to reducing this energy demand is to limit the power consumption of hardware components when workloads…

As power systems are undergoing a significant transformation with more uncertainties, less inertia and closer to operation limits, there is increasing risk of large outages. Thus, there is an imperative need to enhance grid emergency…

The problem of multi-robot navigation of connectivity maintenance is challenging in multi-robot applications. This work investigates how to navigate a multi-robot team in unknown environments while maintaining connectivity. We propose a…

Deploying controllers trained with Reinforcement Learning (RL) on real robots can be challenging: RL relies on agents' policies being modeled as Markov Decision Processes (MDPs), which assume an inherently discrete passage of time. The use…

Robotic insertion tasks are characterized by contact and friction mechanics, making them challenging for conventional feedback control methods due to unmodeled physical effects. Reinforcement learning (RL) is a promising approach for…

We present a differentiable predictive control (DPC) methodology for learning constrained control laws for unknown nonlinear systems. DPC poses an approximate solution to multiparametric programming problems emerging from explicit nonlinear…

Model predictive control (MPC) has been shown to significantly improve the energy efficiency of buildings while maintaining thermal comfort. Data-driven approaches based on neural networks have been proposed to facilitate system modelling.…

The commissioning and operation of future large-scale scientific experiments will challenge current tuning and control methods. Reinforcement learning (RL) algorithms are a promising solution thanks to their capability of autonomously…

Buildings account for approximately 40% of global energy consumption, and with the growing share of intermittent renewable energy sources, enabling demand-side flexibility, particularly in heating, ventilation and air conditioning systems,…

There is a growing demand for redirected walking (RDW) techniques and their application. To apply appropriate RDW methods and manipulation, the RDW controllers are predominantly used. There are three types of RDW controllers: direct…

We consider the Imitation Learning (IL) setup where expert data are not collected on the actual deployment environment but on a different version. To address the resulting distribution shift, we combine behavior cloning (BC) with a planner…

Standard practice across domains from robotics to language is to first pretrain a policy on a large-scale demonstration dataset, and then finetune this policy, typically with reinforcement learning (RL), in order to improve performance on…