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

Imitation learning methods seek to learn from an expert either through behavioral cloning (BC) of the policy or inverse reinforcement learning (IRL) of the reward. Such methods enable agents to learn complex tasks from humans that are…

To create efficient-high performing processes, one must find an optimal design with its corresponding controller that ensures optimal operation in the presence of uncertainty. When comparing different process designs, for the comparison to…

In an attempt to speed up the solution of the unit commitment (UC) problem, both machine-learning and optimization-based methods have been proposed to lighten the full UC formulation by removing as many superfluous line-flow constraints as…

We present a novel method to address the problem of multi-vehicle conflict resolution in highly constrained spaces. An optimal control problem is formulated to incorporate nonlinear, non-holonomic vehicle dynamics and exact collision…

Solving Constraint Optimization Problems (COPs) can be dramatically simplified by boundary estimation, that is, providing tight boundaries of cost functions. By feeding a supervised Machine Learning (ML) model with data composed of known…

Based on our recent research on neural heuristic quantization systems, we propose an emulation problem consistent with the neuromimetic paradigm. This optimal quantization problem can be solved with model predictive control (MPC) by…

Standard Behavior Cloning (BC) fails to learn multimodal driving decisions, where multiple valid actions exist for the same scenario. We explore Implicit Behavioral Cloning (IBC) with Energy-Based Models (EBMs) to better capture this…

We present an online model-based reinforcement learning algorithm suitable for controlling complex robotic systems directly in the real world. Unlike prevailing sim-to-real pipelines that rely on extensive offline simulation and model-free…

Model Predictive Control (MPC) has been demonstrated to be effective in continuous control tasks. When a world model and a value function are available, planning a sequence of actions ahead of time leads to a better policy. Existing methods…

The main drawbacks of input-output linearizing controllers are the need for precise dynamics models and not being able to account for input constraints. Model uncertainty is common in almost every robotic application and input saturation is…

So-called implicit behavioral cloning with energy-based models has shown promising results in robotic manipulation tasks. We tested if the method's advantages carry on to controlling the steering of a real self-driving car with an…

Imitation learning is a widely used approach for training agents to replicate expert behavior in complex decision-making tasks. However, existing methods often struggle with compounding errors and limited generalization, due to the inherent…

Continual Learning (CL) aims to develop agents emulating the human ability to sequentially learn new tasks while being able to retain knowledge obtained from past experiences. In this paper, we introduce the novel problem of…

We propose a comprehensive framework for policy gradient methods tailored to continuous time reinforcement learning. This is based on the connection between stochastic control problems and randomised problems, enabling applications across…

Model-based reinforcement learning is an effective approach for controlling an unknown system. It is based on a longstanding pipeline familiar to the control community in which one performs experiments on the environment to collect a…

This paper proposes a learning-based model predictive control (MPC) approach for the thermal control of a four-zone smart building. The objectives are to minimize energy consumption and maintain the residents' comfort. The proposed control…

Neuromorphic or neurally-inspired optimizers rely on local but parallel parameter updates to solve problems that range from quadratic programming to Ising machines. An ideal realization of such an optimizer not only uses a compute-in-memory…

In control applications there is often a compromise that needs to be made with regards to the complexity and performance of the controller and the computational resources that are available. For instance, the typical hardware platform in…

Stochastic model predictive control has been a successful and robust control framework for many robotics tasks where the system dynamics model is slightly inaccurate or in the presence of environment disturbances. Despite the successes, it…

In this paper, we present a robotic model-based reinforcement learning method that combines ideas from model identification and model predictive control. We use a feature-based representation of the dynamics that allows the dynamics model…