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Humans naturally "program" a fellow collaborator to perform a task by demonstrating the task few times. It is intuitive, therefore, for a human to program a collaborative robot by demonstration and many paradigms use a single demonstration…

Dexterous manipulation has seen remarkable progress in recent years, with policies capable of executing many complex and contact-rich tasks in simulation. However, transferring these policies from simulation to real world remains a…

Growing demands in the semiconductor industry result in the need for enhanced performance of lithographic equipment. However, position tracking accuracy of high precision mechatronics is often limited by the presence of disturbance sources,…

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.…

Model-free control based on the idea of Reinforcement Learning is a promising approach that has recently gained extensive attention. However, Reinforcement-Learning-based control methods solely focus on the regulation problem or learn to…

This paper presents an experimental study of a path-tracking framework for autonomous vehicles in which the lateral control command is applied to a dynamic control point along the wheelbase. Instead of enforcing a fixed reference at either…

Research on vessel automation and autonomy is currently being conducted by various countries and institutions. Safe and accurate ship control algorithms are crucial to realize automated operation. Actuator drive constraints of a target ship…

An optimization-based method for improving the productivity of precision machine tools is proposed, where the reference path is computed in local coordinates, and information about the machine tool performance is learned from experimental…

This paper develops a provably stable sensor-driven controller for path-following applications of robots with unicycle kinematics, one specific class of which is the wheeled mobile robot (WMR). The sensor measurement is converted to a…

Real-time adaptation is imperative to the control of robots operating in complex, dynamic environments. Adaptive control laws can endow even nonlinear systems with good trajectory tracking performance, provided that any uncertain dynamics…

This paper presents an approach to target tracking that is based on a variable-gain integrator and the Newton-Raphson method for finding zeros of a function. Its underscoring idea is the determination of the feedback law by measurements of…

Learning control policies for multi-robot systems (MRS) remains a major challenge due to long-term coordination and the difficulty of obtaining realistic training data. In this work, we address both limitations within an imitation learning…

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…

Current end-to-end autonomous driving methods either run a controller based on a planned trajectory or perform control prediction directly, which have spanned two separately studied lines of research. Seeing their potential mutual benefits…

Although deep reinforcement learning (RL) has been successfully applied to a variety of robotic control tasks, it's still challenging to apply it to real-world tasks, due to the poor sample efficiency. Attempting to overcome this…

We present a decentralized minimum-time trajectory optimization scheme based on learning model predictive control for multi-agent systems with nonlinear decoupled dynamics and coupled state constraints. By performing the same task…

Model-based controllers on real robots require accurate knowledge of the system dynamics to perform optimally. For complex dynamics, first-principles modeling is not sufficiently precise, and data-driven approaches can be leveraged to learn…

This paper proposes a new methodology for design of a stabilizing control law for multi-input linear systems with time-varying, singular gains on the control. The results presented here assume the control gain to satisfy persistence of…

We present a learning algorithm for training a single policy that imitates multiple gaits of a walking robot. To achieve this, we use and extend MPC-Net, which is an Imitation Learning approach guided by Model Predictive Control (MPC). The…

Humans are remarkably data-efficient when adapting to new unseen conditions, like driving a new car. In contrast, modern robotic control systems, like neural network policies trained using Reinforcement Learning (RL), are highly specialized…