相关论文: A Safety Modulator Actor-Critic Method in Model-Fr…

Traditional reinforcement learning (RL) methods typically employ a fixed control loop, where each cycle corresponds to an action. This rigidity poses challenges in practical applications, as the optimal control frequency is task-dependent.…

Multi-Agent Reinforcement Learning (MARL) has emerged as a foundational approach for addressing diverse, intelligent control tasks in various scenarios like the Internet of Vehicles, Internet of Things, and Unmanned Aerial Vehicles.…

We consider an improper reinforcement learning setting where a learner is given $M$ base controllers for an unknown Markov decision process, and wishes to combine them optimally to produce a potentially new controller that can outperform…

\Ac{MPC} and \ac{RL} are two powerful control strategies with, arguably, complementary advantages. In this work, we show how actor-critic \ac{RL} techniques can be leveraged to improve the performance of \ac{MPC}. The \ac{RL} critic is used…

Autonomous driving with reinforcement learning (RL) has significant potential. However, applying RL in real-world settings remains challenging due to the need for safe, efficient, and robust learning. Incorporating human expertise into the…

We present GuidedSAC, a novel reinforcement learning (RL) algorithm that facilitates efficient exploration in vast state-action spaces. GuidedSAC leverages large language models (LLMs) as intelligent supervisors that provide action-level…

Offline Reinforcement Learning promises to learn effective policies from previously-collected, static datasets without the need for exploration. However, existing Q-learning and actor-critic based off-policy RL algorithms fail when…

We develop a Multi-Agent Reinforcement Learning (MARL) method to learn scalable control policies for target tracking. Our method can handle an arbitrary number of pursuers and targets; we show results for tasks consisting up to 1000…

Deep reinforcement learning (RL) has been endowed with high expectations in tackling challenging manipulation tasks in an autonomous and self-directed fashion. Despite the significant strides made in the development of reinforcement…

This paper tackles the challenging task of maintaining formation among multiple unmanned aerial vehicles (UAVs) while avoiding both static and dynamic obstacles during directed flight. The complexity of the task arises from its…

This paper demonstrates the applicability of the safe model predictive control (SMPC) framework to autonomous driving scenarios, focusing on the design of adaptive cruise control (ACC) and automated lane-change systems. Building on the SMPC…

In this work we analyze Multi-Agent Advantage Actor-Critic (MA2C) a recently proposed multi-agent reinforcement learning algorithm that can be applied to adaptive traffic signal control (ATSC) problems. To evaluate its potential we compare…

This paper presents a novel, safe control architecture (SCA) for controlling an important class of systems: safety-critical systems. Ensuring the safety of control decisions has always been a challenge in automatic control. The proposed SCA…

Improving sampling efficiency and generalization capability is critical for the successful data-driven control of quadrotor unmanned aerial vehicles (UAVs) that are inherently unstable. While various reinforcement learning (RL) approaches…

This paper presents a novel methodology to enforce motion safety guarantees even in the event of a sudden loss of control capabilities by any agent within a multi-agent system. This passive safety methodology permits the replacement of…

Reinforcement Learning (RL) has shown great potential in complex control tasks, particularly when combined with deep neural networks within the Actor-Critic (AC) framework. However, in practical applications, balancing exploration, learning…

Navigation problems under unknown varying conditions are among the most important and well-studied problems in the control field. Classic model-based adaptive control methods can be applied only when a convenient model of the plant or…

Proportional-integral-derivative (PID) control is the most widely used in industrial control, robot control and other fields. However, traditional PID control is not competent when the system cannot be accurately modeled and the operating…

We develop an approach for solving time-consistent risk-sensitive stochastic optimization problems using model-free reinforcement learning (RL). Specifically, we assume agents assess the risk of a sequence of random variables using dynamic…

This paper proposes a novel control method for an autonomous wheel loader, enabling time-efficient navigation to an arbitrary goal pose. Unlike prior works which combine high-level trajectory planners with Model Predictive Control (MPC), we…