相关论文: Learning-based Inverse Perception Contracts and Ap…

This paper introduces a learning-based low-level controller for quadcopters, which adaptively controls quadcopters with significant variations in mass, size, and actuator capabilities. Our approach leverages a combination of imitation…

As robotic systems move from highly structured environments to open worlds, incorporating uncertainty from dynamics learning or state estimation into the control pipeline is essential for robust performance. In this paper we present a…

In this paper, we present Quantum-Inspired Model Predictive Control (QIMPC), an approach that uses Variational Quantum Circuits (VQCs) to learn control polices in MPC problems. The viability of the approach is tested in five experiments: A…

Model Predictive Control (MPC) is an enabling technology in applications requiring controlling physical processes in an optimized way under constraints on inputs and outputs. However, in MPC closed-loop performance is pushed to the limits…

As robots aspire for long-term autonomous operations in complex dynamic environments, the ability to reliably take mission-critical decisions in ambiguous situations becomes critical. This motivates the need to build systems that have…

This paper presents a robust adaptive learning Model Predictive Control (MPC) framework for linear systems with parametric uncertainties and additive disturbances performing iterative tasks. The approach refines the parameter estimates…

Inverse optimal control (IOC) is about estimating an unknown objective of interest given its optimal control sequence. However, truly optimal demonstrations are often difficult to obtain, e.g., due to human errors or inaccurate…

Cost functions have the potential to provide compact and understandable generalizations of motion. The goal of Inverse Optimal Control (IOC) is to analyze an observed behavior which is assumed to be optimal with respect to an unknown cost…

This paper presents a novel method for assessing the resilience of the ICP algorithm via learning-based, worst-case attacks on lidar point clouds. For safety-critical applications such as autonomous navigation, ensuring the resilience of…

The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…

We propose a novel adaptive learning-based model predictive control (MPC) scheme for interconnected systems which can be decomposed into several smaller dynamically coupled subsystems with uncertain coupling. The proposed scheme is mainly…

In this paper we propose a new algorithm for learning polyhedral classifiers which we call as Polyceptron. It is a Perception like algorithm which updates the parameters only when the current classifier misclassifies any training data. We…

We present a method for contraction-based feedback motion planning of locally incrementally exponentially stabilizable systems with unknown dynamics that provides probabilistic safety and reachability guarantees. Given a dynamics dataset,…

As robots venture into the real world, they are subject to unmodeled dynamics and disturbances. Traditional model-based control approaches have been proven successful in relatively static and known operating environments. However, when an…

Deep networks trained on demonstrations of human driving have learned to follow roads and avoid obstacles. However, driving policies trained via imitation learning cannot be controlled at test time. A vehicle trained end-to-end to imitate…

Model Predictive Control (MPC) is a classic tool for optimal control of complex, real-world systems. Although it has been successfully applied to a wide range of challenging tasks in robotics, it is fundamentally limited by the prediction…

Imitation Learning has provided a promising approach to learning complex robot behaviors from expert demonstrations. However, learned policies can make errors that lead to safety violations, which limits their deployment in safety-critical…

Vision, as an inexpensive yet information rich sensor, is commonly used for perception on autonomous mobile robots. Unfortunately, accurate vision-based perception requires a number of assumptions about the environment to hold -- some…

The successful operation of mobile robots requires them to adapt rapidly to environmental changes. To develop an adaptive decision-making tool for mobile robots, we propose a novel algorithm that combines meta-reinforcement learning…

When manipulating a novel object with complex dynamics, a state representation is not always available, for example for deformable objects. Learning both a representation and dynamics from observations requires large amounts of data. We…