相关论文: Learning-based Near-optimal Motion Planning for In…

Despite significant advancements in deep reinforcement learning (DRL)-based autonomous driving policies, these policies still exhibit vulnerability to adversarial attacks. This vulnerability poses a formidable challenge to the practical…

Model-based reinforcement learning (MBRL) aims to learn model(s) of the environment dynamics that can predict the outcome of its actions. Forward application of the model yields so called imagined trajectories (sequences of action,…

Path planning in dynamic environments is a fundamental challenge in intelligent transportation and robotics, where obstacles and conditions change over time, introducing uncertainty and requiring continuous adaptation. While existing…

Deep reinforcement learning (DRL) has demonstrated remarkable success in developing autonomous driving policies. However, its vulnerability to adversarial attacks remains a critical barrier to real-world deployment. Although existing robust…

A sudden roadblock on highways due to many reasons such as road maintenance, accidents, and car repair is a common situation we encounter almost daily. Autonomous Vehicles (AVs) equipped with sensors that can acquire vehicle dynamics such…

Motion control algorithms in the presence of pedestrians are critical for the development of safe and reliable Autonomous Vehicles (AVs). Traditional motion control algorithms rely on manually designed decision-making policies which neglect…

We investigate reinforcement learning (RL) in the presence of distributional mismatch between training and deployment, where policies trained in simulators often underperform in practice due to mismatches between training and deployment…

Learning-based control methods utilize run-time data from the underlying process to improve the controller performance under model mismatch and unmodeled disturbances. This is beneficial for optimizing industrial processes, where the…

In modern robotics, effectively computing optimal control policies under dynamically varying environments poses substantial challenges to the off-the-shelf parametric policy gradient methods, such as the Deep Deterministic Policy Gradient…

We present $\mathcal{L}_1$-$\mathcal{GP}$, an architecture based on $\mathcal{L}_1$ adaptive control and Gaussian Process Regression (GPR) for safe simultaneous control and learning. On one hand, the $\mathcal{L}_1$ adaptive control…

Optimizing charging protocols is critical for reducing battery charging time and decelerating battery degradation in applications such as electric vehicles. Recently, reinforcement learning (RL) methods have been adopted for such purposes.…

Applying reinforcement learning to robotic systems poses a number of challenging problems. A key requirement is the ability to handle continuous state and action spaces while remaining within a limited time and resource budget.…

Recent developments in Reinforcement learning have significantly enhanced sequential decision-making in uncertain environments. Despite their strong performance guarantees, most existing work has focused primarily on improving the…

Constrained Reinforcement Learning (CRL) tackles sequential decision-making problems where agents are required to achieve goals by maximizing the expected return while meeting domain-specific constraints, which are often formulated as…

With the implementation of reinforcement learning (RL) algorithms, current state-of-art autonomous vehicle technology have the potential to get closer to full automation. However, most of the applications have been limited to game domains…

We present a deep reinforcement learning (deep RL) algorithm that consists of learning-based motion planning and imitation to tackle challenging control problems. Deep RL has been an effective tool for solving many high-dimensional…

Uncertainties in Deep Neural Network (DNN)-based perception and vehicle's motion pose challenges to the development of safe autonomous driving vehicles. In this paper, we propose a safe motion planning framework featuring the quantification…

Reinforcement learning (RL)-based methods have achieved significant success in managing grid-interactive efficient buildings (GEBs). However, RL does not carry intrinsic guarantees of constraint satisfaction, which may lead to severe safety…

Model-based reinforcement learning (RL) has shown great potential in various control tasks in terms of both sample-efficiency and final performance. However, learning a generalizable dynamics model robust to changes in dynamics remains a…

We present a novel approach to improve the performance of deep reinforcement learning (DRL) based outdoor robot navigation systems. Most, existing DRL methods are based on carefully designed dense reward functions that learn the efficient…