相关论文: Safety Filter for Robust Disturbance Rejection via…

In this work we address the problem of the online robust control of nonlinear dynamical systems perturbed by disturbance. We study the problem of attenuation of the total cost over a duration $T$ in response to the disturbances. We consider…

Offline Safe Reinforcement Learning (RL) seeks to address safety constraints by learning from static datasets and restricting exploration. However, these approaches heavily rely on the dataset and struggle to generalize to unseen scenarios…

Safety critical control of robotic manipulation tasks involving deformable media such as fluids, cloth, and soft objects remains challenging because existing learning based approaches encode safety indirectly through reward shaping, which…

Most existing distance metric learning methods assume perfect side information that is usually given in pairwise or triplet constraints. Instead, in many real-world applications, the constraints are derived from side information, such as…

Reliable, risk-averse design of complex engineering systems with optimized performance requires dealing with uncertainties. A conventional approach is to add safety margins to a design that was obtained from deterministic optimization.…

While reinforcement learning (RL) has been central to the recent success of large language models (LLMs), RL optimization is notoriously unstable, especially when compared to supervised fine-tuning (SFT). In this work, we investigate the…

Offline safe RL is of great practical relevance for deploying agents in real-world applications. However, acquiring constraint-satisfying policies from the fixed dataset is non-trivial for conventional approaches. Even worse, the learned…

Safe reinforcement learning (Safe RL) seeks to maximize rewards while satisfying safety constraints, typically addressed through Lagrangian-based methods. However, existing approaches, including PID and classical Lagrangian methods, suffer…

Control systems are inevitably affected by external disturbances, and a major objective of the control design is to attenuate or eliminate their adverse effects on the system performance. This paper presents a disturbance rejection approach…

Offline-to-online reinforcement learning (RL) has emerged as a practical paradigm that leverages offline datasets for pretraining and online interactions for fine-tuning. However, its empirical behavior is highly inconsistent: design…

Offline reinforcement learning (RL) is suitable for safety-critical domains where online exploration is too costly or dangerous. In such safety-critical settings, decision-making should take into consideration the risk of catastrophic…

Robust optimization is a common framework in optimization under uncertainty when the problem parameters are not known, but it is rather known that the parameters belong to some given uncertainty set. In the robust optimization framework the…

In online convex optimization (OCO), Lipschitz continuity of the functions is commonly assumed in order to obtain sublinear regret. Moreover, many algorithms have only logarithmic regret when these functions are also strongly convex.…

Nowadays, many control systems are networked and embed communication and computation capabilities. Such control architectures are prone to cyber attacks on the cyberinfrastructure. Consequently, there is an impellent need to develop…

Measurements and state estimates are often imperfect in control practice, posing challenges for safety-critical applications, where safety guarantees rely on accurate state information. In the presence of estimation errors, several prior…

In practical applications, quantum systems are inevitably subject to significant uncertainties, including unknown initial states, imprecise physical parameters, and unmodeled environmental noise, all of which pose major challenges to robust…

We investigate robust model-free reinforcement learning algorithms designed for environments that may be dynamic or even adversarial. Traditional state-based policies often struggle to accommodate the challenges imposed by the presence of…

This paper analyzes the robustness and stability of a disturbance observer (DOB) and a reaction torque observer (RTOB) based robust motion control systems. Conventionally, a DOB is analyzed by using an ideal velocity measurement that is…

Factorization Machine (FM) is a supervised learning approach with a powerful capability of feature engineering. It yields state-of-the-art performance in various batch learning tasks where all the training data is made available prior to…

Feedback optimization optimizes the steady state of a dynamical system by implementing optimization iterations in closed loop with the plant. It relies on online measurements and limited model information, namely, the input-output…