相关论文: Learning to control from expert demonstrations

Learning from Demonstration (LfD) techniques enable robots to learn and generalize tasks from user demonstrations, eliminating the need for coding expertise among end-users. One established technique to implement LfD in robots is to encode…

Simulation is a useful tool in situations where training data for machine learning models is costly to annotate or even hard to acquire. In this work, we propose a reinforcement learning-based method for automatically adjusting the…

This work studies data-driven switched controller design for discrete-time switched linear systems. Instead of having access to the full system dynamics, an initialization phase is performed, during which noiseless measurements of the state…

Although reinforcement learning has seen tremendous success recently, this kind of trial-and-error learning can be impractical or inefficient in complex environments. The use of demonstrations, on the other hand, enables agents to benefit…

A method of stabilizing 2-cycles in discrete dynamic systems by Delayed Feedback Control is developed by using classic Harmonic Analysis.

Neural networks are being increasingly applied to control and decision-making for learning-enabled cyber-physical systems (LE-CPSs). They have shown promising performance without requiring the development of complex physical models;…

Stability certification and identifying a safe and stabilizing initial set are two important concerns in ensuring operational safety, stability, and robustness of dynamical systems. With the advent of machine-learning tools, these issues…

This paper presents a novel approach to imitation learning from observations, where an autoregressive mixture of experts model is deployed to fit the underlying policy. The parameters of the model are learned via a two-stage framework. By…

Lagrangian systems represent a wide range of robotic systems, including manipulators, wheeled and legged robots, and quadrotors. Inverse dynamics control and feedforward linearization techniques are typically used to convert the complex…

We consider the problem of adaptive stabilization for discrete-time, multi-dimensional linear systems with bounded control input constraints and unbounded stochastic disturbances, where the parameters of the true system are unknown. To…

This paper deals with the stabilization problem for nonlinear control-affine systems with the use of oscillating feedback controls. We assume that the local controllability around the origin is guaranteed by the rank condition with Lie…

We introduce a control-tutored reinforcement learning (CTRL) algorithm. The idea is to enhance tabular learning algorithms so as to improve the exploration of the state-space, and substantially reduce learning times by leveraging some…

We introduce a control-tutored reinforcement learning (CTRL) algorithm. The idea is to enhance tabular learning algorithms by means of a control strategy with limited knowledge of the system model. By tutoring the learning process, the…

This paper is concerned with the robust tracking control of linear uncertain systems, whose unknown system parameters and disturbances are bounded within ellipsoidal sets. We propose an adaptive robust control that can actively learn the…

We propose the use of Bayesian networks, which provide both a mean value and an uncertainty estimate as output, to enhance the safety of learned control policies under circumstances in which a test-time input differs significantly from the…

This paper addresses the problems of stabilization, robust control, and observer design for nonlinear systems. We build upon recently a proposed method based on contraction theory and convex optimization, extending the class of systems to…

One approach for feedback control using high dimensional and rich sensor measurements is to classify the measurement into one out of a finite set of situations, each situation corresponding to a (known) control action. This approach…

Predictive safety filters enable the integration of potentially unsafe learning-based control approaches and humans into safety-critical systems. In addition to simple constraint satisfaction, many control problems involve additional…

In this paper, we study the problem of stabilizing continuous-time switched linear systems with quantized output feedback. We assume that the observer and the control gain are given for each mode. Also, the plant mode is known to the…

The control of complex systems and network-coupled dynamical systems is a topic of vital theoretical importance in mathematics and physics with a wide range of applications in engineering and various other sciences. Motivated by recent…