相关论文: Learning-based methods to model small body gravity…

This article investigates the modeling and control of Lagrangian systems involving non-conservative forces using a hybrid method that does not require acceleration calculations. It focuses in particular on the derivation and identification…

A fundamental challenge in learning to control an unknown dynamical system is to reduce model uncertainty by making measurements while maintaining safety. In this work, we formulate a mathematical definition of what it means to safely learn…

Tendon-Driven Continuum Robots (TDCRs) pose significant modeling and control challenges due to complex nonlinearities, such as frictional hysteresis and transmission compliance. This paper proposes a differentiable learning framework that…

Some of the threats in the dynamic environment include the unpredictability of the motion of objects and interferences to the robotic grasp. In such conditions the traditional supervised and reinforcement learning approaches are ill suited…

In the last decade, reinforcement learning successfully solved complex control tasks and decision-making problems, like the Go board game. Yet, there are few success stories when it comes to deploying those algorithms to real-world…

Modeling complex physical dynamics is a fundamental task in science and engineering. Traditional physics-based models are sample efficient, and interpretable but often rely on rigid assumptions. Furthermore, direct numerical approximation…

Modelling gravity is a fundamental problem that must be tackled in N-body simulations of stellar systems, and satisfactory solutions require a deep understanding of the dynamical effects of softening. In a previous paper (Romeo 1997), we…

A small but growing body of work has shown that machine learning models which better align with human vision have also exhibited higher robustness to adversarial examples, raising the question: can human-like perception make models more…

Social robot navigation is an evolving research field that aims to find efficient strategies to safely navigate dynamic environments populated by humans. A critical challenge in this domain is the accurate modeling of human motion, which…

This paper presents L-Learning, a novel data-driven control framework for robotics that integrates Lyapunov stability theory with Lagrangian mechanics to enhance trajectory tracking performance. While traditional control methods often…

Real-world data is laden with outlying values. The challenge for machine learning is that the learner typically has no prior knowledge of whether the feedback it receives (losses, gradients, etc.) will be heavy-tailed or not. In this work,…

The functional demands of robotic systems often require completing various tasks or behaviors under the effect of disturbances or uncertain environments. Of increasing interest is the autonomy for dynamic robots, such as multirotors, motor…

The dynamic response of the legged robot locomotion is non-Lipschitz and can be stochastic due to environmental uncertainties. To test, validate, and characterize the safety performance of legged robots, existing solutions on observed and…

Safe autonomous navigation in unknown environments is an important problem for mobile robots. This paper proposes techniques to learn the dynamics model of a mobile robot from trajectory data and synthesize a tracking controller with safety…

This investigation introduces a novel deep reinforcement learning-based suite to control floating platforms in both simulated and real-world environments. Floating platforms serve as versatile test-beds to emulate micro-gravity environments…

As robots increasingly integrate into everyday environments, ensuring their safe navigation around humans becomes imperative. Efficient and safe motion planning requires robots to account for human behavior, particularly in constrained…

A trustworthy reinforcement learning algorithm should be competent in solving challenging real-world problems, including {robustly} handling uncertainties, satisfying {safety} constraints to avoid catastrophic failures, and {generalizing}…

Reinforcement Learning (RL) has been shown to be effective in many scenarios. However, it typically requires the exploration of a sufficiently large number of state-action pairs, some of which may be unsafe. Consequently, its application to…

A machine learning model that generalizes well should obtain low errors on unseen test examples. Thus, if we learn an optimal model in training data, it could have better generalization performance in testing tasks. However, learning such a…

This paper introduces a new method for safety-aware robot learning, focusing on repairing policies using predictive models. Our method combines behavioral cloning with neural network repair in a two-step supervised learning framework. It…