相关论文: Learning Stabilization Control from Observations b…

Traditional reinforcement learning lacks the ability to provide stability guarantees. More recent algorithms learn Lyapunov functions alongside the control policies to ensure stable learning. However, the current self-learned Lyapunov…

Training an agent to solve control tasks directly from high-dimensional images with model-free reinforcement learning (RL) has proven difficult. A promising approach is to learn a latent representation together with the control policy.…

Modern end-to-end learning systems can learn to explicitly infer control from perception. However, it is difficult to guarantee stability and robustness for these systems since they are often exposed to unstructured, high-dimensional, and…

While stability analysis is a mainstay for control science, especially computing regions of attraction of equilibrium points, until recently most stability analysis tools always required explicit knowledge of the model or a high-fidelity…

This paper introduces a framework for learning a minimum-norm stabilizing controller for a system with unknown dynamics using model-free policy optimization methods. The approach begins by first designing a Control Lyapunov Function (CLF)…

Imitation Learning from Observation (ILfO) is a setting in which a learner tries to imitate the behavior of an expert, using only observational data and without the direct guidance of demonstrated actions. In this paper, we re-examine…

This paper presents a novel approach to reinforcement learning (RL) for control systems that provides probabilistic stability guarantees using finite data. Leveraging Lyapunov's method, we propose a probabilistic stability theorem that…

Robots capable of learning from demonstration (LfD) must exhibit stability while executing learned motion skills. To be effective in the real world, they should also remember multiple skills over time -- a capability lacking in current…

Reinforcement learning plays a crucial role in vehicle control by guiding agents to learn optimal control strategies through designing or learning appropriate reward signals. However, in vehicle control applications, rewards typically need…

Reinforcement learning is a powerful paradigm for learning optimal policies from experimental data. However, to find optimal policies, most reinforcement learning algorithms explore all possible actions, which may be harmful for real-world…

Learning from visual observation (LfVO), aiming at recovering policies from only visual observation data, is promising yet a challenging problem. Existing LfVO approaches either only adopt inefficient online learning schemes or require…

When neural networks are used to model dynamics, properties such as stability of the dynamics are generally not guaranteed. In contrast, there is a recent method for learning the dynamics of autonomous systems that guarantees global…

Establishing stability certificates for closed-loop systems under reinforcement learning (RL) policies is essential to move beyond empirical performance and offer guarantees of system behavior. Classical Lyapunov methods require a strict…

Reinforcement learning (RL) exhibits impressive performance when managing complicated control tasks for robots. However, its wide application to physical robots is limited by the absence of strong safety guarantees. To overcome this…

Stability certificates play a critical role in ensuring the safety and reliability of robotic systems. However, deriving these certificates for complex, unknown systems has traditionally required explicit knowledge of system dynamics, often…

We consider the problem of learning from observation (LfO), in which the agent aims to mimic the expert's behavior from the state-only demonstrations by experts. We additionally assume that the agent cannot interact with the environment but…

We present an algorithm for Inverse Reinforcement Learning (IRL) from expert state observations only. Our approach decouples reward modelling from policy learning, unlike state-of-the-art adversarial methods which require updating the…

Reward specification is one of the most tricky problems in Reinforcement Learning, which usually requires tedious hand engineering in practice. One promising approach to tackle this challenge is to adopt existing expert video demonstrations…

In this work, we study model-based reinforcement learning (RL) in unknown stabilizable linear dynamical systems. When learning a dynamical system, one needs to stabilize the unknown dynamics in order to avoid system blow-ups. We propose an…

We study a new paradigm for sequential decision making, called offline policy learning from observations (PLfO). Offline PLfO aims to learn policies using datasets with substandard qualities: 1) only a subset of trajectories is labeled with…