相关论文: Training Efficient Controllers via Analytic Policy…

Driving vehicles in complex scenarios under harsh conditions is the biggest challenge for autonomous vehicles (AVs). To address this issue, we propose hierarchical motion planning and robust control strategy using the front-active steering…

Reach-Avoid-Stay (RAS) optimal control enables systems such as robots and air taxis to reach their targets, avoid obstacles, and stay near the target. However, current methods for RAS often struggle with handling complex, dynamic…

We present an approach for safe trajectory planning, where a strategic task related to autonomous racing is learned sample-efficient within a simulation environment. A high-level policy, represented as a neural network, outputs a reward…

In this paper, a new offline actor-critic learning algorithm is introduced: Sampled Policy Gradient (SPG). SPG samples in the action space to calculate an approximated policy gradient by using the critic to evaluate the samples. This…

Constrained Reinforcement Learning (CRL) tackles sequential decision-making problems where agents are required to achieve goals by maximizing the expected return while meeting domain-specific constraints, which are often formulated as…

In this paper, we implement three state-of-art continuous reinforcement learning algorithms, Deep Deterministic Policy Gradient (DDPG), Proximal Policy Optimization (PPO) and Policy Gradient (PG)in portfolio management. All of them are…

In this paper, we propose, discuss, and validate an online Nonlinear Model Predictive Control (NMPC) method for multi-rotor aerial systems with arbitrarily positioned and oriented rotors which simultaneously addresses the local reference…

Interactive grasping from clutter, akin to human dexterity, is one of the longest-standing problems in robot learning. Challenges stem from the intricacies of visual perception, the demand for precise motor skills, and the complex interplay…

Fast feedback control and safety guarantees are essential in modern robotics. We present an approach that achieves both by combining novel robust model predictive control (MPC) with function approximation via (deep) neural networks (NNs).…

This paper presents model-based and model-free learning methods for economic and ecological adaptive cruise control (Eco-ACC) of connected and autonomous electric vehicles. For model-based optimal control of Eco-ACC, we considered…

Asynchronous execution is essential for scaling reinforcement learning (RL) to modern large model workloads, including large language models and AI agents, but it can fundamentally alter RL optimization behavior. While prior work on…

High-precision control tasks present substantial challenges for reinforcement learning (RL) algorithms, frequently resulting in suboptimal performance attributed to network approximation inaccuracies and inadequate sample quality.These…

Cooperative multi-agent problems often require coordination between agents, which can be achieved through a centralized policy that considers the global state. Multi-agent policy gradient (MAPG) methods are commonly used to learn such…

There is growing interest in reinforcement learning (RL) methods that leverage the simulator's derivatives to improve learning efficiency. While early gradient-based approaches have demonstrated superior performance compared to…

While policy optimization algorithms have played an important role in recent empirical success of Reinforcement Learning (RL), the existing theoretical understanding of policy optimization remains rather limited -- they are either…

Self-evolution is indispensable to realize full autonomous driving. This paper presents a self-evolving decision-making system based on the Integrated Decision and Control (IDC), an advanced framework built on reinforcement learning (RL).…

Highly dynamic tasks that require large accelerations and precise tracking usually rely on accurate models and/or high gain feedback. While kinematic optimization allows for efficient representation and online generation of hitting…

Autonomous ground vehicles (AGVs) are receiving increasing attention, and the motion planning and control problem for these vehicles has become a hot research topic. In real applications such as material handling, an AGV is subject to large…

In this paper, we consider the problem of learning policies to control a large number of homogeneous robots. To this end, we propose a new algorithm we call Graph Policy Gradients (GPG) that exploits the underlying graph symmetry among the…

Lane change is a challenging task which requires delicate actions to ensure safety and comfort. Some recent studies have attempted to solve the lane-change control problem with Reinforcement Learning (RL), yet the action is confined to…