相关论文: Evaluation of MPC-based Imitation Learning for Hum…

Control of legged robots is a challenging problem that has been investigated by different approaches, such as model-based control and learning algorithms. This work proposes a novel Imitating and Finetuning Model Predictive Control (IFM)…

Automated driving at unsignalized intersections is challenging due to complex multi-vehicle interactions and the need to balance safety and efficiency. Model Predictive Control (MPC) offers structured constraint handling through…

Imitation Learning (IL) can generate computationally efficient policies from demonstrations provided by Model Predictive Control (MPC). However, IL methods often require extensive data-collection and training efforts, limiting changes to…

Learning from real-world robot demonstrations holds promise for interacting with complex real-world environments. However, the complexity and variability of interaction dynamics often cause purely positional controllers to struggle with…

Optimization-based approaches such as Model Predictive Control (MPC) are promising approaches in proactive control for safety-critical applications with changing environments such as automated driving systems. However, the computational…

We present differentiable predictive control (DPC), a method for learning constrained neural control policies for linear systems with probabilistic performance guarantees. We employ automatic differentiation to obtain direct policy…

Model predictive control (MPC) is a de facto standard control algorithm across the process industries. There remain, however, applications where MPC is impractical because an optimization problem is solved at each time step. We present a…

A supervised learning framework is proposed to approximate a model predictive controller (MPC) with reduced computational complexity and guarantees on stability and constraint satisfaction. The framework can be used for a wide class of…

The fields of MPC and RL consider two successful control techniques for Markov decision processes. Both approaches are derived from similar fundamental principles, and both are widely used in practical applications, including robotics,…

Cooperative control of groups of autonomous vehicles (AVs), i.e., platoons, is a promising direction to improving the efficiency of autonomous transportation systems. In this context, distributed co-optimization of both vehicle speed and…

Imitation learning holds great promise for addressing the complex task of autonomous urban driving, as experienced human drivers can navigate highly challenging scenarios with ease. While behavior cloning is a widely used imitation learning…

Two current methods used to train autonomous cars are reinforcement learning and imitation learning. This research develops a new learning methodology and systematic approach in both a simulated and a smaller real world environment by…

We consider the problem of designing an algorithm to allow a car to autonomously merge on to a highway from an on-ramp. Two broad classes of techniques have been proposed to solve motion planning problems in autonomous driving: Model…

Safe learning of locomotion skills is still an open problem. Indeed, the intrinsically unstable nature of the open-loop dynamics of locomotion systems renders naive learning from scratch prone to catastrophic failures in the real world. In…

Imitation learning is a promising approach to end-to-end training of autonomous vehicle controllers. Typically the driving process with such approaches is entirely automatic and black-box, although in practice it is desirable to control the…

A robust Model Predictive Control (MPC) approach for controlling front steering of an autonomous vehicle is presented in this paper. We present various approaches to increase the robustness of model predictive control by using weight…

The recent increase in data availability and reliability has led to a surge in the development of learning-based model predictive control (MPC) frameworks for robot systems. Despite attaining substantial performance improvements over their…

There is a widespread intuition that model-based control methods should be able to surpass the data efficiency of model-free approaches. In this paper we attempt to evaluate this intuition on various challenging locomotion tasks. We take a…

An iterative learning based economic model predictive controller (ILEMPC) is proposed for repetitive tasks in this paper. Compared with existing works, the initial feasible trajectory of the proposed ILEMPC is not restricted to be…

We consider the problem of learning structured, closed-loop policies (feedback laws) from demonstrations in order to control under-actuated robotic systems, so that formal behavioral specifications such as reaching a target set of states…