相关论文: Model Adaptation for Time Constrained Embodied Con…

This paper presents a model reference adaptive control (MRAC) framework for uncertain linear time-invariant (LTI) systems subject to user-defined, time-varying state and input constraints. The proposed design seamlessly integrates a…

In this paper we address the problem of robot movement adaptation under various environmental constraints interactively. Motion primitives are generally adopted to generate target motion from demonstrations. However, their generalization…

Deploying foundation models in embodied edge systems is fundamentally a systems problem, not just a problem of model compression. Real-time control must operate within strict size, weight, and power constraints, where memory traffic,…

Sampling-based Model Predictive Control (MPC) is a flexible control framework that can reason about non-smooth dynamics and cost functions. Recently, significant work has focused on the use of machine learning to improve the performance of…

Learning to perform perfect tracking tasks based on measurement data is desirable in the controller design of systems operating repetitively. This motivates the present paper to seek an optimization-based design approach for iterative…

Model Predictive Control (MPC) offers a versatile framework for constraint handling and multi-objective optimisation, yet practical application faces challenges regarding initial and recursive feasibility, robustness against model…

With an increasing use of data-driven models to control robotic systems, it has become important to develop a methodology for validating such models before they can be deployed to design a controller for the actual system. Specifically, it…

Classical methods in robot motion planning, such as sampling-based and optimization-based methods, often struggle with scalability towards higher-dimensional state spaces and complex environments. Diffusion models, known for their…

Control of complex systems involves both system identification and controller design. Deep neural networks have proven to be successful in many identification tasks, however, from model-based control perspective, these networks are…

We study how to design learning-based adaptive controllers that enable fast and accurate online adaptation in changing environments. In these settings, learning is typically done during an initial (offline) design phase, where the vehicle…

An emerging paradigm in vision-and-language navigation (VLN) is the use of history-aware multi-modal transformer models. Given a language instruction, these models process observation and navigation history to predict the most appropriate…

Meta-Reinforcement Learning (Meta-RL) aims to acquire meta-knowledge for quick adaptation to diverse tasks. However, applying these policies in real-world environments presents a significant challenge in balancing rapid adaptability with…

This paper addresses the trajectory-tracking problem for discrete-time linear time-invariant systems with bounded parametric uncertainty, subject to hard constraints on system states, control inputs, and input rates. Unlike existing…

Deep motion forecasting models have achieved great success when trained on a massive amount of data. Yet, they often perform poorly when training data is limited. To address this challenge, we propose a transfer learning approach for…

High-Performance Computing (HPC) schedulers must balance user performance with facility-wide resource constraints. The task boils down to selecting the optimal number of nodes for a given job. We present a surrogate-assisted multi-objective…

Substantial advancements to model-based reinforcement learning algorithms have been impeded by the model-bias induced by the collected data, which generally hurts performance. Meanwhile, their inherent sample efficiency warrants utility for…

In this work, we propose a meta-learning-based Koopman modeling and predictive control approach for nonlinear systems with parametric uncertainties. An adaptive deep meta-learning-based modeling approach, called Meta Adaptive Koopman…

We propose a robust adaptive Model Predictive Control (MPC) strategy with online set-based estimation for constrained linear systems with unknown parameters and bounded disturbances. A sample-based test applied to predicted trajectories is…

We consider the problem of optimizing the economic performance of nonlinear constrained systems subject to uncertain time-varying parameters and bounded disturbances. In particular, we propose an adaptive economic model predictive control…

Time-varying coverage control addresses the challenge of coordinating multiple agents covering an environment where regions of interest change over time. This problem has broad applications, including the deployment of autonomous taxis and…