相关论文: Generating Stable and Collision-Free Policies thro…

In chaotic dynamical systems such as the weather, prediction errors grow faster in some situations than in others. Real-time knowledge about the error growth could enable strategies to adjust the modelling and forecasting infrastructure…

When users work with AI agents, they form conscious or subconscious expectations of them. Meeting user expectations is crucial for such agents to engage in successful interactions and teaming. However, users may form expectations of an…

To design effective digital interventions, experimenters face the challenge of learning decision policies that balance multiple objectives using offline data. Often, they aim to develop policies that maximize goal outcomes, while ensuring…

Despite advances in learning-based methods, finding valid Lyapunov functions for nonlinear dynamical systems remains challenging. Current neural network approaches face two main issues: challenges in scalable verification and limited…

Motion planning under sensing uncertainty is critical for robots in unstructured environments to guarantee safety for both the robot and any nearby humans. Most work on planning under uncertainty does not scale to high-dimensional robots…

Modular robots can be reconfigured to create a variety of designs from a small set of components. But constructing a robot's hardware on its own is not enough -- each robot needs a controller. One could create controllers for some designs…

In this paper, the problem of placing sensors for some classes of nonlinear dynamic systems (NDS) is investigated. In conjunction with mixed-integer programming, classical Lyapunov-based arguments are used to find the minimal sensor…

Reinforcement learning (RL) excels in applications such as video games, but ensuring safety as well as the ability to achieve the specified goals remains challenging when using RL for real-world problems, such as human-aligned tasks where…

This paper addresses the problem of model-free reinforcement learning for Robust Markov Decision Process (RMDP) with large state spaces. The goal of the RMDP framework is to find a policy that is robust against the parameter uncertainties…

We present a visual imitation learning framework that enables learning of robot action policies solely based on expert samples without any robot trials. Robot exploration and on-policy trials in a real-world environment could often be…

Learning from humans allows non-experts to program robots with ease, lowering the resources required to build complex robotic solutions. Nevertheless, such data-driven approaches often lack the ability to provide guarantees regarding their…

Reinforcement learning-based controller design methods often require substantial data in the initial training phase. Moreover, the training process tends to exhibit strong randomness and slow convergence. It often requires considerable time…

We develop a versatile deep neural network architecture, called Lyapunov-Net, to approximate Lyapunov functions of dynamical systems in high dimensions. Lyapunov-Net guarantees positive definiteness, and thus it can be easily trained to…

Learning-based neural network (NN) control policies have shown impressive empirical performance in a wide range of tasks in robotics and control. However, formal (Lyapunov) stability guarantees over the region-of-attraction (ROA) for NN…

This paper presents a theoretical framework for analyzing the stability of higher-order geometric nonlinear control laws for attitude control on the Special Orthogonal Group $\mathrm{SO(3)}$. In particular, the paper extends existing…

Deep Neural Networks (DNNs) are increasingly used in control applications due to their powerful function approximation capabilities. However, many existing formulations focus primarily on tracking error convergence, often neglecting the…

This paper presents L-Learning, a novel data-driven control framework for robotics that integrates Lyapunov stability theory with Lagrangian mechanics to enhance trajectory tracking performance. While traditional control methods often…

Efficient skill acquisition, representation, and on-line adaptation to different scenarios has become of fundamental importance for assistive robotic applications. In the past decade, dynamical systems (DS) have arisen as a flexible and…

We present a novel sensor-based learning navigation algorithm to compute a collision-free trajectory for a robot in dense and dynamic environments with moving obstacles or targets. Our approach uses deep reinforcement learning-based expert…

Empirically defining some constant probabilistic orbits of f(x) and g(x) iterated high-order functions, the stability of these functions in possible entangled interaction dynamics of the environment through its orbit's connectivity (open…