相关论文: Efficient Deep Learning of Robust, Adaptive Polici…

Adapting an interface requires taking into account both the positive and negative effects that changes may have on the user. A carelessly picked adaptation may impose high costs to the user -- for example, due to surprise or relearning…

Efficient and robust policy transfer remains a key challenge for reinforcement learning to become viable for real-wold robotics. Policy transfer through warm initialization, imitation, or interacting over a large set of agents with…

In this paper, we present a nonlinear robust model predictive control (MPC) framework for general (state and input dependent) disturbances. This approach uses an online constructed tube in order to tighten the nominal (state and input)…

In high-stake scenarios like medical treatment and auto-piloting, it's risky or even infeasible to collect online experimental data to train the agent. Simulation-based training can alleviate this issue, but may suffer from its inherent…

Model Predictive Control (MPC)-based Reinforcement Learning (RL) offers a structured and interpretable alternative to Deep Neural Network (DNN)-based RL methods, with lower computational complexity and greater transparency. However,…

We consider the problem of robust and adaptive model predictive control (MPC) of a linear system, with unknown parameters that are learned along the way (adaptive), in a critical setting where failures must be prevented (robust). This…

Legged locomotion demands controllers that are both robust and adaptable, while remaining compatible with task and safety considerations. However, model-free reinforcement learning (RL) methods often yield a fixed policy that can be…

The security of cloud environments, such as Amazon Web Services (AWS), is complex and dynamic. Static security policies have become inadequate as threats evolve and cloud resources exhibit elasticity [1]. This paper addresses the…

To ensure user acceptance of autonomous vehicles (AVs), control systems are being developed to mimic human drivers from demonstrations of desired driving behaviors. Imitation learning (IL) algorithms serve this purpose, but struggle to…

Dynamic quadruped locomotion over challenging terrains with precise foot placements is a hard problem for both optimal control methods and Reinforcement Learning (RL). Non-linear solvers can produce coordinated constraint satisfying…

Although deep reinforcement learning (DRL) has shown promising results for autonomous navigation in interactive traffic scenarios, existing work typically adopts a fixed behavior policy to control social vehicles in the training…

Model predictive control (MPC) has been applied to many platforms in robotics and autonomous systems for its capability to predict a system's future behavior while incorporating constraints that a system may have. To enhance the performance…

We study the offline data-driven sequential decision making problem in the framework of Markov decision process (MDP). In order to enhance the generalizability and adaptivity of the learned policy, we propose to evaluate each policy by a…

A self-learning adaptive system (SLAS) uses machine learning to enable and enhance its adaptability. Such systems are expected to perform well in dynamic situations. For learning high-performance adaptation policy, some assumptions must be…

Deep reinforcement learning (RL) has achieved great empirical successes in various domains. However, the large search space of neural networks requires a large amount of data, which makes the current RL algorithms not sample efficient.…

Imitation learning methods seek to learn from an expert either through behavioral cloning (BC) of the policy or inverse reinforcement learning (IRL) of the reward. Such methods enable agents to learn complex tasks from humans that are…

Learning robust driving policies from large-scale, real-world datasets is a central challenge in autonomous driving, as online data collection is often unsafe and impractical. While Behavioral Cloning (BC) offers a straightforward approach…

Skilled robot task learning is best implemented by predictive action policies due to the inherent latency of sensorimotor processes. However, training such predictive policies is challenging as it involves finding a trajectory of motor…

Deep reinforcement learning (RL) has shown immense potential for learning to control systems through data alone. However, one challenge deep RL faces is that the full state of the system is often not observable. When this is the case, the…

Meta-reinforcement learning algorithms provide a data-driven way to acquire policies that quickly adapt to many tasks with varying rewards or dynamics functions. However, learned meta-policies are often effective only on the exact task…