相关论文: Controlling Steering with Energy-Based Models

This paper presents a robust path following control method for vehicles that explicitly considers steering resistance dynamics to improve tracking accuracy. Conventional methods typically treat the steering angle as a direct control input;…

Energy-based modelling brings engineering insight to the understanding of biomolecular systems. It is shown how well-established control engineering concepts, such as loop-gain, arise from energy feedback loops and are therefore amenable to…

In recent years, autonomous driving algorithms using low-cost vehicle-mounted cameras have attracted increasing endeavors from both academia and industry. There are multiple fronts to these endeavors, including object detection on roads,…

Autonomous electric vehicles are being widely studied nowadays as the future technology of ground transportation, while the autonomous electric vehicles based on conventional powertrain system limit their energy and power transmission…

Hybrid aerial--ground robots offer both traversability and endurance, but stair-like discontinuities create a trade-off: wheels alone often stall at edges, while flight is energy-hungry for small height gains. We propose an energy-aware…

Autonomous driving is challenging in adverse road and weather conditions in which there might not be lane lines, the road might be covered in snow and the visibility might be poor. We extend the previous work on end-to-end learning for…

State of the art reinforcement learning has enabled training agents on tasks of ever increasing complexity. However, the current paradigm tends to favor training agents from scratch on every new task or on collections of tasks with a view…

Signal processing traditionally relies on classical statistical modeling techniques. Such model-based methods utilize mathematical formulations that represent the underlying physics, prior information and additional domain knowledge. Simple…

Preference-based reinforcement learning (PbRL) can enable robots to learn to perform tasks based on an individual's preferences without requiring a hand-crafted reward function. However, existing approaches either assume access to a…

Unlike quasi-static robotic manipulation tasks like pick-and-place, dynamic tasks such as non-prehensile manipulation pose greater challenges, especially for vision-based control. Successful control requires the extraction of features…

Learning-based control methods typically assume stationary system dynamics, an assumption often violated in real-world systems due to drift, wear, or changing operating conditions. We study reinforcement learning for control under…

In this paper, we present a robotic model-based reinforcement learning method that combines ideas from model identification and model predictive control. We use a feature-based representation of the dynamics that allows the dynamics model…

To improve the driving mobility and energy efficiency of connected autonomous electrified vehicles, this paper presents an integrated longitudinal speed decision-making and energy efficiency control strategy. The proposed approach is a…

Precise control over language model generation is vital for ensuring both safety and reliability. Although prompt engineering and steering are commonly used to intervene in model behaviors, the vast number of parameters in models often…

Training self-driving systems to be robust to the long-tail of driving scenarios is a critical problem. Model-based approaches leverage simulation to emulate a wide range of scenarios without putting users at risk in the real world. One…

Despite deep-learning being state-of-the-art for data-driven model predictions, it has not yet found frequent application in ecology. Given the low sample size typical in many environmental research fields, the default choice for the…

This work shows that value-aware model learning, known for its numerous theoretical benefits, is also practically viable for solving challenging continuous control tasks in prevalent model-based reinforcement learning algorithms. First, we…

Model-based methods are the dominant paradigm for controlling robotic systems, though their efficacy depends heavily on the accuracy of the model used. Deep neural networks have been used to learn models of robot dynamics from data, but…

Model-based reinforcement learning (MBRL) is believed to have much higher sample efficiency compared to model-free algorithms by learning a predictive model of the environment. However, the performance of MBRL highly relies on the quality…

The imitation learning of self-driving vehicle policies through behavioral cloning is often carried out in an open-loop fashion, ignoring the effect of actions to future states. Training such policies purely with Empirical Risk Minimization…