相关论文: Deep Reinforcement Learning Graphs: Feedback Motio…

Making the right decision in traffic is a challenging task that is highly dependent on individual preferences as well as the surrounding environment. Therefore it is hard to model solely based on expert knowledge. In this work we use Deep…

This paper investigates the vision-based autonomous driving with deep learning and reinforcement learning methods. Different from the end-to-end learning method, our method breaks the vision-based lateral control system down into a…

While deep reinforcement learning (RL) methods have achieved unprecedented successes in a range of challenging problems, their applicability has been mainly limited to simulation or game domains due to the high sample complexity of the…

Model-based reinforcement learning attempts to use an available or learned model to improve the data efficiency of reinforcement learning. This work proposes a one-step lookback approach that jointly learns the deep incremental model and…

As data-driven methods are deployed in real-world settings, the processes that generate the observed data will often react to the decisions of the learner. For example, a data source may have some incentive for the algorithm to provide a…

Adaptive control is subject to stability and performance issues when a learned model is used to enhance its performance. This paper thus presents a deep learning-based adaptive control framework for nonlinear systems with…

Autonomous navigation is challenging for mobile robots, especially in an unknown environment. Commonly, the robot requires multiple sensors to map the environment, locate itself, and make a plan to reach the target. However, reinforcement…

The necessary integration of renewable energy sources, combined with the expanding scale of power networks, presents significant challenges in controlling modern power grids. Traditional control systems, which are human and…

Model-reference adaptive systems refer to a consortium of techniques that guide plants to track desired reference trajectories. Approaches based on theories like Lyapunov, sliding surfaces, and backstepping are typically employed to advise…

Learning algorithms have shown considerable prowess in simulation by allowing robots to adapt to uncertain environments and improve their performance. However, such algorithms are rarely used in practice on safety-critical systems, since…

In this paper, we propose a novel Reinforcement Learning approach for solving the Active Information Acquisition problem, which requires an agent to choose a sequence of actions in order to acquire information about a process of interest…

We propose a machine learning framework to synthesize reactive controllers for systems whose interactions with their adversarial environment are modeled by infinite-duration, two-player games over (potentially) infinite graphs. Our…

Deep reinforcement learning is becoming increasingly popular for robot control algorithms, with the aim for a robot to self-learn useful feature representations from unstructured sensory input leading to the optimal actuation policy. In…

Reinforcement learning has been successfully applied to the problem of tuning PID controllers in several applications. The existing methods often utilize function approximation, such as neural networks, to update the controller parameters…

In this work, we present a deep reinforcement learning based method to solve the problem of robotic grasping using visio-motor feedback. The use of a deep learning based approach reduces the complexity caused by the use of hand-designed…

This paper provides an approximate online adaptive solution to the infinite-horizon optimal tracking problem for control-affine continuous-time nonlinear systems with unknown drift dynamics. Model-based reinforcement learning is used to…

Control theory can provide useful insights into the properties of controlled, dynamic systems. One important property of nonlinear systems is the region of attraction (ROA), a safe subset of the state space in which a given controller…

This paper deals with a special type of Lyapunov functions, namely the solution of Zubov's equation. Such a function can be used to characterize the domain of attraction for systems of ordinary differential equations. We derive and prove an…

We propose a general strategy for feedback control design of complex dynamical systems exploiting the nonlinear mechanisms in a systematic unsupervised manner. These dynamical systems can have a state space of arbitrary dimension with…

This paper introduces a new method to train recurrent neural networks using dynamical trajectory-based optimization. The optimization method utilizes a projected gradient system (PGS) and a quotient gradient system (QGS) to determine the…