相关论文: Efficient Deep Learning of Robust Policies from MP…

This note extends a recently proposed algorithm for model identification and robust MPC of asymptotically stable, linear time-invariant systems subject to process and measurement disturbances. Independent output predictors for different…

Developing agents that can perform challenging complex tasks is the goal of reinforcement learning. The model-free reinforcement learning has been considered as a feasible solution. However, the state of the art research has been to develop…

The sim-to-real gap, which represents the disparity between training and testing environments, poses a significant challenge in reinforcement learning (RL). A promising approach to addressing this challenge is distributionally robust RL,…

To address the computational challenges of Model Predictive Control (MPC), recent research has studied using imitation learning to approximate MPC with a computationally efficient Deep Neural Network (DNN). However, this introduces a common…

In this paper we investigate the use of MPC-inspired neural network policies for sequential decision making. We introduce an extension to the DAgger algorithm for training such policies and show how they have improved training performance…

Recent advancements in machine learning provide methods to train autonomous agents capable of handling the increasing complexity of sequential decision-making in robotics. Imitation Learning (IL) is a prominent approach, where agents learn…

Imitation learning (IL) enables agents to acquire skills by observing and replicating the behavior of one or multiple experts. In recent years, advances in deep learning have significantly expanded the capabilities and scalability of…

Robust tube-based model predictive control (MPC) methods address constraint satisfaction by leveraging an a priori determined tube controller in the prediction to tighten the constraints. This paper presents a system level tube-MPC (SLTMPC)…

Robotic systems must be able to quickly and robustly make decisions when operating in uncertain and dynamic environments. While Reinforcement Learning (RL) can be used to compute optimal policies with little prior knowledge about the…

Imitation Learning offers a promising approach to learn directly from data without requiring explicit models, simulations, or detailed task definitions. During inference, actions are sampled from the learned distribution and executed on the…

Model-based offline optimization with dynamics-aware policy provides a new perspective for policy learning and out-of-distribution generalization, where the learned policy could adapt to different dynamics enumerated at the training stage.…

Model predictive control (MPC) is a powerful control method that handles dynamical systems with constraints. However, solving MPC iteratively in real time, i.e., implicit MPC, remains a computational challenge. To address this, common…

Today's fast linear algebra and numerical optimization tools have pushed the frontier of model predictive control (MPC) forward, to the efficient control of highly nonlinear and hybrid systems. The field of hybrid MPC has demonstrated that…

Imitation learning uses data for training policies to solve complex tasks. However, when the training data is collected from human demonstrators, it often leads to multimodal distributions because of the variability in human actions. Most…

Deep learning models in recommender systems are usually trained in the batch mode, namely iteratively trained on a fixed-size window of training data. Such batch mode training of deep learning models suffers from low training efficiency,…

Fast feedback control and safety guarantees are essential in modern robotics. We present an approach that achieves both by combining novel robust model predictive control (MPC) with function approximation via (deep) neural networks (NNs).…

Imitation learning (IL) aims to learn an optimal policy from demonstrations. However, such demonstrations are often imperfect since collecting optimal ones is costly. To effectively learn from imperfect demonstrations, we propose a novel…

Imitation Learning (IL) is an important paradigm within the broader reinforcement learning (RL) methodology. Unlike most of RL, it does not assume availability of reward-feedback. Reward inference and shaping are known to be difficult and…

Imitation learning is a class of promising policy learning algorithms that is free from many practical issues with reinforcement learning, such as the reward design issue and the exploration hardness. However, the current imitation…

While learning from demonstrations is powerful for acquiring visuomotor policies, high-performance imitation without large demonstration datasets remains challenging for tasks requiring precise, long-horizon manipulation. This paper…