相关论文: Reinforcement Learning Control for Autonomous Hydr…

We demonstrate experimentally the feasibility of applying reinforcement learning (RL) in flow control problems by automatically discovering active control strategies without any prior knowledge of the flow physics. We consider the turbulent…

This paper presents a hybrid approach that integrates trajectory optimization (TO) and reinforcement learning (RL) for motion planning and control of free-flying multi-arm robots in on-orbit servicing scenarios. The proposed system…

This study presents a novel reinforcement learning (RL)-based control framework aimed at enhancing the safety and robustness of the quadcopter, with a specific focus on resilience to in-flight one propeller failure. Addressing the critical…

Smart electric wheelchairs can improve user experience by supporting the driver with shared control. State-of-the-art work showed the potential of shared control in improving safety in navigation for non-holonomic robots. However, for…

Deep Reinforcement Learning (RL) has shown great success in learning complex control policies for a variety of applications in robotics. However, in most such cases, the hardware of the robot has been considered immutable, modeled as part…

Reinforcement learning (RL) offers a promising approach for adaptive wind farm flow control, yet its practical deployment is hindered by slow training convergence and poor initial performance, factors that could translate to years of…

The learning inefficiency of reinforcement learning (RL) from scratch hinders its practical application towards continuous robotic tracking control, especially for high-dimensional robots. This work proposes a data-informed residual…

The design of feedback controllers for bipedal robots is challenging due to the hybrid nature of its dynamics and the complexity imposed by high-dimensional bipedal models. In this paper, we present a novel approach for the design of…

By combining the agility of legged locomotion with the capabilities of manipulation, loco-manipulation platforms have the potential to perform complex tasks in real-world applications. To this end, state-of-the-art quadrupeds with…

Most successes in robotic manipulation have been restricted to single-arm robots, which limits the range of solvable tasks to pick-and-place, insertion, and objects rearrangement. In contrast, dual and multi arm robot platforms unlock a…

Reinforcement learning (RL) has enabled advances in humanoid robot locomotion, yet most learning frameworks do not account for mechanical intelligence embedded in parallel actuation mechanisms due to limitations in simulator support for…

This paper proposes a novel approach to controller design for MR-damped vehicle suspension system. This approach is predicated on the premise that the optimal control strategy can be learned through real-world or simulated experiments…

Attitude control of fixed-wing unmanned aerial vehicles (UAVs) is a difficult control problem in part due to uncertain nonlinear dynamics, actuator constraints, and coupled longitudinal and lateral motions. Current state-of-the-art…

A central question in robotics is how to design a control system for an agile mobile robot. This paper studies this question systematically, focusing on a challenging setting: autonomous drone racing. We show that a neural network…

Reinforcement learning (RL) has become a promising approach to developing controllers for quadrupedal robots. Conventionally, an RL design for locomotion follows a position-based paradigm, wherein an RL policy outputs target joint positions…

A reinforcement learning (RL) based methodology is proposed and implemented for online fine-tuning of PID controller gains, thus, improving quadrotor effective and accurate trajectory tracking. The RL agent is first trained offline on a…

Traditional wind farm control operates each turbine independently to maximize individual power output. However, coordinated wake steering across the entire farm can substantially increase the combined wind farm energy production. Although…

This paper proposes a new control framework for manipulating soft objects. A Deep Reinforcement Learning (DRL) approach is used to make the shape of a deformable object reach a set of desired points by controlling a robotic arm which…

Data-driven learning-based control methods such as reinforcement learning (RL) have become increasingly popular with recent proliferation of the machine learning paradigm. These methods address the parameter sensitiveness and unmodeled…

Emerging vehicular systems with increasing proportions of automated components present opportunities for optimal control to mitigate congestion and increase efficiency. There has been a recent interest in applying deep reinforcement…