相关论文: CPG-RL: Learning Central Pattern Generators for Qu…

Although DRL (deep reinforcement learning) has emerged as a powerful tool for making better decisions than existing hand-crafted communication protocols, it faces significant limitations: 1) Selecting the appropriate neural network…

Grasping large flat objects, such as books or keyboards lying horizontally, presents significant challenges for single-arm robotic systems, often requiring extra actions like pushing objects against walls or moving them to the edge of a…

Model predictive control (MPC) has demonstrated effectiveness for humanoid bipedal locomotion; however, its applicability in challenging environments, such as rough and slippery terrain, is limited by the difficulty of modeling terrain…

Flying quadrotors in tight formations is a challenging problem. It is known that in the near-field airflow of a quadrotor, the aerodynamic effects induced by the propellers are complex and difficult to characterize. Although machine…

A core strength of Model Predictive Control (MPC) for quadrupedal locomotion has been its ability to enforce constraints and provide interpretability of the sequence of commands over the horizon. However, despite being able to plan, MPC…

Reinforcement Learning (RL) or Deep Reinforcement Learning (DRL) is a powerful approach to solving Markov Decision Processes (MDPs) when the model of the environment is not known a priori. However, RL models are still faced with challenges…

Developing the flocking behavior for a dynamic squad of fixed-wing UAVs is still a challenge due to kinematic complexity and environmental uncertainty. In this paper, we deal with the decentralized flocking and collision avoidance problem…

Controlling inter-area oscillation (IAO) across wide areas is crucial for the stability of modern power systems. Recent advances in deep learning, combined with the extensive deployment of phasor measurement units (PMUs) and generator…

In this chapter, the regulation of Unmanned Aerial Vehicle (UAV) communication network is investigated in the presence of dynamic changes in the UAV lineup and user distribution. We target an optimal UAV control policy which is capable of…

Automatic test pattern generation (ATPG) is a crucial process in integrated circuit (IC) design and testing, responsible for efficiently generating test patterns. As semiconductor technology progresses, traditional ATPG struggles with long…

Deep Reinforcement Learning (DRL) is widely recognized as sample-inefficient, a limitation attributable in part to the high dimensionality and substantial functional redundancy inherent to the policy parameter space. A recent framework,…

The emergence of new wireless technologies together with the requirement of massive connectivity results in several technical issues such as excessive interference, high computational demand for signal processing, and lengthy processing…

For the deployment of legged robots in real-world environments, it is essential to develop robust locomotion control methods for challenging terrains that may exhibit unexpected deformability and irregularity. In this paper, we explore the…

Several applications in the scientific simulation of physical systems can be formulated as control/optimization problems. The computational models for such systems generally contain hyperparameters, which control solution fidelity and…

In this letter, we formulate a novel Markov Decision Process (MDP) for safe and data-efficient learning for humanoid locomotion aided by a dynamic balancing model. In our previous studies of biped locomotion, we relied on a low-dimensional…

In pursuit of autonomous vehicles, achieving human-like driving behavior is vital. This study introduces adaptive autopilot (AA), a unique framework utilizing constrained-deep reinforcement learning (C-DRL). AA aims to safely emulate human…

The stochastic and dynamic nature of renewable energy sources and power electronic devices are creating unique challenges for modern power systems. One such challenge is that the conventional mathematical systems models-based optimal active…

Deep reinforcement learning (DRL) has proven extremely useful in a large variety of application domains. However, even successful DRL-based software can exhibit highly undesirable behavior. This is due to DRL training being based on…

All vertebrates are capable of performing various types of physical activity. Locomotor patterns are created by the cyclical coordinated work of the skeletal muscles. The organization of such a system in living organisms is responsible for…

The Extra Robotic Legs (XRL) system is a robotic augmentation worn by a human operator consisting of two articulated robot legs that walk with the operator and help bear a heavy backpack payload. It is desirable for the Human-XRL quadruped…