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

Despite Neural Ordinary Differential Equations (Neural ODEs) exhibiting intrinsic robustness, existing methods often impose Lyapunov stability for formal guarantees. However, these methods still face a fundamental accuracy-robustness…

We consider polynomial differential equations and make a number of contributions to the questions of (i) complexity of deciding stability, (ii) existence of polynomial Lyapunov functions, and (iii) existence of sum of squares (sos) Lyapunov…

Recent work has shown results on learning navigation policies for idealized cylinder agents in simulation and transferring them to real wheeled robots. Deploying such navigation policies on legged robots can be challenging due to their…

Visuomotor policies trained via behavior cloning are vulnerable to covariate shift, where small deviations from expert trajectories can compound into failure. Common strategies to mitigate this issue involve expanding the training…

Reinforcement learning (RL) has shown promise in generating robust locomotion policies for bipedal robots, but often suffers from tedious reward design and sensitivity to poorly shaped objectives. In this work, we propose a structured…

The notion of Lyapunov function plays a key role in design and verification of dynamical systems, as well as hybrid and cyber-physical systems. In this paper, to analyze the asymptotic stability of a dynamical system, we generalize standard…

In addition to providing high-profile successes in computer vision and natural language processing, neural networks also provide an emerging set of techniques for scientific problems. Such data-driven models, however, typically ignore…

Model-free reinforcement learning has recently been shown to be effective at learning navigation policies from complex image input. However, these algorithms tend to require large amounts of interaction with the environment, which can be…

Many real-world sequential decision-making problems involve critical systems with financial risks and human-life risks. While several works in the past have proposed methods that are safe for deployment, they assume that the underlying…

We propose two novel algorithms for constructing convex collision-free polytopes in robot configuration space. Finding these polytopes enables the application of stronger motion-planning frameworks such as trajectory optimization with…

We seek to align agent policy with human expert behavior in a reinforcement learning (RL) setting, without any prior knowledge about dynamics, reward function, and unsafe states. There is a human expert knowing the rewards and unsafe states…

The objective of this paper is to enhance the optimization process for neural networks by developing a dynamic learning rate algorithm that effectively integrates exponential decay and advanced anti-overfitting strategies. Our primary…

Current imitation learning approaches, predominantly based on deep neural networks (DNNs), offer efficient mechanisms for learning driving policies from real-world datasets. However, they suffer from inherent limitations in interpretability…

Imitation learning (IL) aims to enable robots to perform tasks autonomously by observing a few human demonstrations. Recently, a variant of IL, called In-Context IL, utilized off-the-shelf large language models (LLMs) as instant policies…

Imitation learning has enabled robots to acquire complex visuomotor manipulation skills from demonstrations, but deployment failures remain a major obstacle, especially for long-horizon action-chunked policies. Once execution drifts off the…

Reinforcement learning (RL) has shown a promising performance in learning optimal policies for a variety of sequential decision-making tasks. However, in many real-world RL problems, besides optimizing the main objectives, the agent is…

In this paper, we develop a systematic method for constructing a generalized discrete-time control Lyapunov function for the flexible-step Model Predictive Control (MPC) scheme, recently introduced in [2], when restricted to the class of…

We address the problem of designing stabilizing control policies for nonlinear systems in discrete-time, while minimizing an arbitrary cost function. When the system is linear and the cost is convex, the System Level Synthesis (SLS)…

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…

We present a technique for learning control Lyapunov (potential) functions, which are used in turn to synthesize controllers for nonlinear dynamical systems. The learning framework uses a demonstrator that implements a black-box, untrusted…