相关论文: Dual Control of Exploration and Exploitation for A…

We consider a class of reinforcement-learning systems in which the agent follows a behavior policy to explore a discrete state-action space to find an optimal policy while adhering to some restriction on its behavior. Such restriction may…

Efficient exploration is necessary to achieve good sample efficiency for reinforcement learning in general. From small, tabular settings such as gridworlds to large, continuous and sparse reward settings such as robotic object manipulation…

We present a decentralized minimum-time trajectory optimization scheme based on learning model predictive control for multi-agent systems with nonlinear decoupled dynamics and coupled state constraints. By performing the same task…

Model identification of battery dynamics is a central problem in energy research; many energy management systems and design processes rely on accurate battery models for efficiency optimization. The standard methodology for battery…

In Wireless Networked Control Systems (WNCSs), control and communication systems must be co-designed due to their strong interdependence. This paper presents a novel optimization theory-based safe deep reinforcement learning (DRL) framework…

The optimal power flow problem plays an important role in the market clearing and operation of electric power systems. However, with increasing uncertainty from renewable energy operation, the optimal operating point of the system changes…

Unsupervised pre-training can equip reinforcement learning agents with prior knowledge and accelerate learning in downstream tasks. A promising direction, grounded in human development, investigates agents that learn by setting and pursuing…

Trajectory optimization using a learned model of the environment is one of the core elements of model-based reinforcement learning. This procedure often suffers from exploiting inaccuracies of the learned model. We propose to regularize…

Optimal control problems driven by evolutionary partial differential equations arise in many industrial applications and their numerical solution is known to be a challenging problem. One approach to obtain an optimal feedback control is…

Deep autoencoder has been extensively used for anomaly detection. Training on the normal data, the autoencoder is expected to produce higher reconstruction error for the abnormal inputs than the normal ones, which is adopted as a criterion…

In several applications such as databases, planning, and sensor networks, parameters such as selectivity, load, or sensed values are known only with some associated uncertainty. The performance of such a system (as captured by some…

In this work, we introduce a new framework for active experimentation, the Prediction-Guided Active Experiment (PGAE), which leverages predictions from an existing machine learning model to guide sampling and experimentation. Specifically,…

The high energy consumption of buildings presents a critical need for advanced control strategies like Demand Response (DR). Differentiable Predictive Control (DPC) has emerged as a promising method for learning explicit control policies,…

Data-driven control in unknown environments requires a clear understanding of the involved uncertainties for ensuring safety and efficient exploration. While aleatoric uncertainty that arises from measurement noise can often be explicitly…

Deep reinforcement learning (DRL) faces significant challenges in addressing the hard-exploration problems in tasks with sparse or deceptive rewards and large state spaces. These challenges severely limit the practical application of DRL.…

Reliable optimal control is challenging when the dynamics of a nonlinear system are unknown and only infrequent, noisy output measurements are available. This work addresses this setting of limited sensing by formulating a Bayesian prior…

The imbalance of exploration and exploitation has long been a significant challenge in reinforcement learning. In policy optimization, excessive reliance on exploration reduces learning efficiency, while over-dependence on exploitation…

Reinforcement learning (RL) is a powerful framework for decision-making in uncertain environments, but it often requires large amounts of data to learn an optimal policy. We address this challenge by incorporating prior model knowledge to…

Optimal control schemes have achieved remarkable performance in numerous engineering applications. However, they typically require high computational cost, which has limited their use in real-world engineering systems with fast dynamics…

This project proposes a bioinspired multi-robot system using Distributed Optimization for efficient exploration and mapping of unknown environments. Each robot explores its environment and creates a map, which is afterwards put together to…