相关论文: Diffusion Model Predictive Control

Model-based reinforcement learning methods often use learning only for the purpose of estimating an approximate dynamics model, offloading the rest of the decision-making work to classical trajectory optimizers. While conceptually simple,…

We present foundations for using Model Predictive Control (MPC) as a differentiable policy class for reinforcement learning in continuous state and action spaces. This provides one way of leveraging and combining the advantages of…

Diffusion models have demonstrated highly-expressive generative capabilities in vision and NLP. Recent studies in reinforcement learning (RL) have shown that diffusion models are also powerful in modeling complex policies or trajectories in…

Data-driven model predictive control has two key advantages over model-free methods: a potential for improved sample efficiency through model learning, and better performance as computational budget for planning increases. However, it is…

State-of-the-art model-based Reinforcement Learning (RL) approaches either use gradient-free, population-based methods for planning, learned policy networks, or a combination of policy networks and planning. Hybrid approaches that combine…

Diffusion models excel at sampling from complex, unnormalized distributions. In this work, we extend Maximum Entropy Reinforcement Learning (ME-RL) to diffusion processes, enabling sampling from the optimal policy trajectory distribution.…

In the context of continuously rising global air traffic, efficient and safe Conflict Detection and Resolution (CD&R) is paramount for air traffic management. Although Deep Reinforcement Learning (DRL) offers a promising pathway for CD&R…

Due to high dimensionality and non-convexity, real-time optimal control using full-order dynamics models for legged robots is challenging. Therefore, Nonlinear Model Predictive Control (NMPC) approaches are often limited to reduced-order…

Diffusion-based models have recently shown strong performance in trajectory planning, as they are capable of capturing diverse, multimodal distributions of complex behaviors. A key limitation of these models is their slow inference speed,…

Model Predictive Control (MPC) is widely used for torque-controlled robots, but classical formulations often neglect real-time force feedback and struggle with contact-rich industrial tasks under collision constraints. Deburring in…

The performance of optimization-based robot motion planning algorithms is highly dependent on the initial solutions, commonly obtained by running a sampling-based planner to obtain a collision-free path. However, these methods can be slow…

Model Predictive Control (MPC) is effective at generating safe control strategies in constrained scenarios, at the cost of computational complexity. This is especially the case in robots that require high sampling rates and have limited…

In this paper, we leverage the rapid advances in imitation learning, a topic of intense recent focus in the Reinforcement Learning (RL) literature, to develop new sample complexity results and performance guarantees for data-driven Model…

This paper investigates an optimal control problem for an adoption-opinion model that couples opinion dynamics with a compartmental adoption framework on a multilayer network to study the diffusion of sustainable behaviors. Adoption evolves…

We investigate interactive trajectory planning subject to uncertainty in the decisions of surrounding agents. To control the ego-agent, we aim to first learn the decision distribution and solve a Stochastic Model Predictive Control (SMPC)…

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…

While distributed algorithms provide advantages for the control of complex large-scale systems by requiring a lower local computational load and less local memory, it is a challenging task to design high-performance distributed control…

A comprehensive approach addressing identification and control for learningbased Model Predictive Control (MPC) for linear systems is presented. The design technique yields a data-driven MPC law, based on a dataset collected from the…

Model Predictive Control (MPC) is an optimal control strategy suited for flood control of water resources infrastructure. Despite many studies on reservoir flood control and their theoretical contribution, optimisation methodologies have…

Learning-based model predictive control (MPC) is an approach designed to reduce the computational cost of MPC. In this paper, a constrained deep neural network (DNN) design is proposed to learn MPC policy for nonlinear systems. Using…