相关论文: Learning Solution Manifolds for Control Problems v…

Building energy management is one of the core problems in modern power grids to reduce energy consumption while ensuring occupants' comfort. However, the building energy management system (BEMS) is now facing more challenges and…

In this paper, we present the combined learning-and-control (CLC) approach, which is a new way to solve optimal control problems with unknown dynamics by unifying model-based control and data-driven learning. The key idea is simple: we…

Model-based Reinforcement Learning and Control have demonstrated great potential in various sequential decision making problem domains, including in robotics settings. However, real-world robotics systems often present challenges that limit…

Conventional feedback control methods can solve various types of robot control problems very efficiently by capturing the structure with explicit models, such as rigid body equations of motion. However, many control problems in modern…

This paper presents our solution for the Real Robot Challenge (RRC) III, a competition featured in the NeurIPS 2022 Competition Track, aimed at addressing dexterous robotic manipulation tasks through learning from pre-collected offline…

We consider the problem of simultaneously clustering and learning a linear representation of data lying close to a union of low-dimensional manifolds, a fundamental task in machine learning and computer vision. When the manifolds are…

Model-based reinforcement learning could enable sample-efficient learning by quickly acquiring rich knowledge about the world and using it to improve behaviour without additional data. Learned dynamics models can be directly used for…

Benders decomposition (BD), along with its generalized version (GBD), is a widely used algorithm for solving large-scale mixed-integer optimization problems that arise in the operation of process systems. However, the off-the-shelf…

We present a deep reinforcement learning (deep RL) algorithm that consists of learning-based motion planning and imitation to tackle challenging control problems. Deep RL has been an effective tool for solving many high-dimensional…

Many real-world control problems involve both discrete decision variables - such as the choice of control modes, gear switching or digital outputs - as well as continuous decision variables - such as velocity setpoints, control gains or…

Process control and optimization have been widely used to solve decision-making problems in chemical engineering applications. However, identifying and tuning the best solution algorithm is challenging and time-consuming. Machine learning…

Nonlinear power flow constraints render a variety of power system optimization problems computationally intractable. Emerging research shows, however, that the nonlinear AC power flow equations can be successfully modeled using Neural…

For the application of MPC design in on-line regulation or tracking control problems, several studies have attempted to develop an accurate model, and realize adequate uncertainty description of linear or non-linear plants of the processes.…

Robots must understand their environment from raw sensory inputs and reason about the consequences of their actions in it to solve complex tasks. Behavior Cloning (BC) leverages task-specific human demonstrations to learn this knowledge as…

Behavioural cloning uses a dataset of demonstrations to learn a behavioural policy. To overcome various learning and policy adaptation problems, we propose to use latent space to index a demonstration dataset, instantly access similar…

Energy-based modeling is a promising approach to unsupervised learning, which yields many downstream applications from a single model. The main difficulty in learning energy-based models with the "contrastive approaches" is the generation…

Learning robust driving policies from large-scale, real-world datasets is a central challenge in autonomous driving, as online data collection is often unsafe and impractical. While Behavioral Cloning (BC) offers a straightforward approach…

We close open theoretical gaps in Multi-Agent Imitation Learning (MAIL) by characterizing the limits of non-interactive MAIL and presenting the first interactive algorithm with near-optimal sample complexity. In the non-interactive setting,…

Current methods for end-to-end constructive neural combinatorial optimization usually train a policy using behavior cloning from expert solutions or policy gradient methods from reinforcement learning. While behavior cloning is…

In this paper, we address the problem of reducing the computational burden of Model Predictive Control (MPC) for real-time robotic applications. We propose TransformerMPC, a method that enhances the computational efficiency of MPC…