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This paper presents a simulation-driven approach for automating the force-controlled assembly of electrical terminals on DIN-rails, a task traditionally hindered by high programming effort and product variability. The proposed method…

Reinforcement learning (RL) in the context of control systems offers wide possibilities of controller adaptation. Given an infinite-horizon cost function, the so-called critic of RL approximates it with a neural net and sends this…

Ramp metering that uses traffic signals to regulate vehicle flows from the on-ramps has been widely implemented to improve vehicle mobility of the freeway. Previous studies generally update signal timings in real-time based on predefined…

Buildings with Heating, Ventilation, and Air Conditioning (HVAC) systems play a crucial role in ensuring indoor comfort and efficiency. While traditionally governed by physics-based models, the emergence of big data has enabled data-driven…

We demonstrate a reinforcement learning (RL) based control framework for optimizing evaporative cooling in the preparation of strongly interacting degenerate Fermi gases of Li6. Using a Soft Actor-Critic (SAC) algorithm, the system…

Deep Reinforcement Learning (DRL) is a viable solution for automating repetitive surgical subtasks due to its ability to learn complex behaviours in a dynamic environment. This task automation could lead to reduced surgeon's cognitive…

Cyber-physical systems (CPS) require the joint optimization of discrete cyber actions and continuous physical parameters under stringent safety logic constraints. However, existing hierarchical approaches often compromise global optimality,…

This paper presents a novel hierarchical deep reinforcement learning (DRL) based design for the voltage control of power grids. DRL agents are trained for fast, and adaptive selection of control actions such that the voltage recovery…

Reinforcement learning (RL) is a popular technique that allows an agent to learn by trial and error while interacting with a dynamic environment. The traditional Reinforcement Learning (RL) approach has been successful in learning and…

In this paper, we demonstrate a Symbolic Reinforcement Learning (SRL) architecture for safe control in Radio Access Network (RAN) applications. In our automated tool, a user can select a high-level safety specifications expressed in Linear…

Reinforcement learning (RL) is effective in many robotic applications, but it requires extensive exploration of the state-action space, during which behaviors can be unsafe. This significantly limits its applicability to large robots with…

Constrained Reinforcement Learning (CRL) aims to optimize decision-making policies under constraint conditions, making it highly applicable to safety-critical domains such as autonomous driving, robotics, and power grid management. However,…

A reinforcement learning (RL) based methodology is proposed and implemented for online fine-tuning of PID controller gains, thus, improving quadrotor effective and accurate trajectory tracking. The RL agent is first trained offline on a…

Reinforcement learning is able to solve complex sequential decision-making tasks but is currently limited by sample efficiency and required computation. To improve sample efficiency, recent work focuses on model-based RL which interleaves…

Traditional control theory-based methods require tailored engineering for each system and constant fine-tuning. In power plant control, one often needs to obtain a precise representation of the system dynamics and carefully design the…

We propose a novel way to integrate control techniques with reinforcement learning (RL) for stability, robustness, and generalization: leveraging contraction theory to realize modularity in neural control, which ensures that combining…

Existing data-driven and feedback traffic control strategies do not consider the heterogeneity of real-time data measurements. Besides, traditional reinforcement learning (RL) methods for traffic control usually converge slowly for lacking…

Meta-learning is a branch of machine learning which trains neural network models to synthesize a wide variety of data in order to rapidly solve new problems. In process control, many systems have similar and well-understood dynamics, which…

Robotic collaborative carrying could greatly benefit human activities like warehouse and construction site management. However, coordinating the simultaneous motion of multiple robots represents a significant challenge. Existing works…

Hierarchical Reinforcement Learning (HRL) enhances the scalability of decision-making in long-horizon tasks by introducing temporal abstraction through options-policies that span multiple timesteps. Despite its theoretical appeal, the…