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

The requirement that planetary systems be dynamically stable is often used to vet new discoveries or set limits on unconstrained masses or orbital elements. This is typically carried out via computationally expensive N-body simulations. We…

Operating complex real-world systems, such as soft robots, can benefit from precise predictive control schemes that require accurate state and model knowledge. This knowledge is typically not available in practical settings and must be…

Non-linear dynamical systems represent a compact, flexible, and robust tool for reactive motion generation. The effectiveness of dynamical systems relies on their ability to accurately represent stable motions. Several approaches have been…

This paper presents Learning-based Autonomous Guidance with RObustness and Stability guarantees (LAG-ROS), which provides machine learning-based nonlinear motion planners with formal robustness and stability guarantees, by designing a…

Quantifying robustness in a single measure for the purposes of model selection, development of adversarial training methods, and anticipating trends has so far been elusive. The simplest metric to consider is the number of trainable…

Reinforcement learning has received significant interest in recent years, due primarily to the successes of deep reinforcement learning at solving many challenging tasks such as playing Chess, Go and online computer games. However, with the…

This tutorial paper focuses on safe physics-informed machine learning in the context of dynamics and control, providing a comprehensive overview of how to integrate physical models and safety guarantees. As machine learning techniques…

This article addresses the challenge of adapting data-based models over time. We propose a novel two-fold modelling architecture designed to correct plant-model mismatch caused by two types of uncertainty. Out-of-domain uncertainty arises…

This paper proposes a robust control design method using reinforcement-learning for controlling partially-unknown dynamical systems under uncertain conditions. The method extends the optimal reinforcement-learning algorithm with a new…

Reinforcement learning often requires extensive training data. Simulation-to-real transfer offers a promising approach to address this challenge in robotics. While differentiable simulators offer improved sample efficiency through exact…

Designing control policies for legged locomotion is complex due to the under-actuated and non-continuous robot dynamics. Model-free reinforcement learning provides promising tools to tackle this challenge. However, a major bottleneck of…

Robots can rapidly acquire new skills from demonstrations. However, during generalisation of skills or transitioning across fundamentally different skills, it is unclear whether the robot has the necessary knowledge to perform the task.…

Systems consisting of spheres rolling on elastic membranes have been used to introduce a core conceptual idea of General Relativity (GR): how curvature guides the movement of matter. However, such schemes cannot accurately represent…

Robustness and safety are critical for the trustworthy deployment of deep reinforcement learning. Real-world decision making applications require algorithms that can guarantee robust performance and safety in the presence of general…

This paper investigates the use of Reinforcement Learning for the robust design of low-thrust interplanetary trajectories in presence of severe disturbances, modeled alternatively as Gaussian additive process noise, observation noise,…

Mapping the surrounding environment is essential for the successful operation of autonomous robots. While extensive research has focused on mapping geometric structures and static objects, the environment is also influenced by the movement…

Moving in dynamic pedestrian environments is one of the important requirements for autonomous mobile robots. We present a model-based reinforcement learning approach for robots to navigate through crowded environments. The navigation policy…

A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…

Collapsing terrains, often present in search and rescue missions or planetary exploration, pose significant challenges for quadruped robots. This paper introduces a robust locomotion framework for safe navigation over unstable surfaces by…

A data-efficient learning-based control design method is proposed in this paper. It is based on learning a system dynamics model that is then leveraged in a two-level procedure. On the higher level, a simple but powerful optimization…