相关论文: High-Dimensional Controller Tuning through Latent …

We propose two deep learning models that fully automate shape parameterization for aerodynamic shape optimization. Both models are optimized to parameterize via deep geometric learning to embed human prior knowledge into learned geometric…

Soft robotic manipulators offer operational advantage due to their compliant and deformable structures. However, their inherently nonlinear dynamics presents substantial challenges. Traditional analytical methods often depend on simplifying…

Physics-based character animation has seen significant advances in recent years with the adoption of Deep Reinforcement Learning (DRL). However, DRL-based learning methods are usually computationally expensive and their performance…

Contact-rich manipulation tasks in unstructured environments often require both haptic and visual feedback. It is non-trivial to manually design a robot controller that combines these modalities which have very different characteristics.…

Model predictive control (MPC) has become increasingly popular for the control of robot manipulators due to its improved performance compared to instantaneous control approaches. However, tuning these controllers remains a considerable…

To recognize an object in an image, the user must apply a combination of operators, where each operator has a set of parameters. These parameters must be well adjusted in order to reach good results. Usually, this adjustment is made…

\noindent Hyper-parameter selection is a central practical problem in modern machine learning, governing regularization strength, model capacity, and robustness choices. Cross-validation is often computationally prohibitive at scale, while…

In this paper, we propose a multi-domain control parameter learning framework that combines Bayesian Optimization (BO) and Hybrid Zero Dynamics (HZD) for locomotion control of bipedal robots. We leverage BO to learn the control parameters…

For safely applying reinforcement learning algorithms on high-dimensional nonlinear dynamical systems, a simplified system model is used to formulate a safe reinforcement learning framework. Based on the simplified system model, a…

Neglecting complex aerodynamic effects hinders high-speed yet high-precision multirotor autonomy. In this paper, we present a computationally efficient learning-based model predictive controller that simultaneously optimizes a trajectory…

Changing conditions or environments can cause system dynamics to vary over time. To ensure optimal control performance, controllers should adapt to these changes. When the underlying cause and time of change is unknown, we need to rely on…

This paper presents a machine learning approach for tuning the parameters of a family of stabilizing controllers for orbital tracking. An augmented random search algorithm is deployed, which aims at minimizing a cost function combining…

This paper focuses on hyperparameter optimization for autonomous driving strategies based on Reinforcement Learning. We provide a detailed description of training the RL agent in a simulation environment. Subsequently, we employ Efficient…

We describe an approach to learning optimal control policies for a large, linear particle accelerator using deep reinforcement learning coupled with a high-fidelity physics engine. The framework consists of an AI controller that uses deep…

Robots assisting the disabled or elderly must perform complex manipulation tasks and must adapt to the home environment and preferences of their user. Learning from demonstration is a promising choice, that would allow the non-technical…

Legged locomotion is a complex control problem that requires both accuracy and robustness to cope with real-world challenges. Legged systems have traditionally been controlled using trajectory optimization with inverse dynamics. Such…

Selecting the optimal combination of a machine learning (ML) algorithm and its hyper-parameters is crucial for the development of high-performance ML systems. However, since the combination of ML algorithms and hyper-parameters is enormous,…

This paper concerns the adaptive control of a class of discrete-time nonlinear systems with all states accessible. Recently, a high-order tuner algorithm was developed for the minimization of convex loss functions with time-varying…

Formal verification provides a powerful framework for proving that dynamical systems satisfy their specifications. However, these techniques face scalability challenges in high-dimensional settings, as they often rely on state-space…

Dynamic maneuvers for legged robots present a difficult challenge due to the complex dynamics and contact constraints. This paper introduces a versatile trajectory optimization framework for continuous-time multi-phase problems. We…