相关论文: Transfer Learning for LQR Control

The goal of this work is to enable a team of quadrotors to learn how to accurately track a desired trajectory while holding a given formation. We solve this problem in a distributed manner, where each vehicle has only access to the…

We study transfer learning for a linear regression task using several least-squares pretrained models that can be overparameterized. We formulate the target learning task as optimization that minimizes squared errors on the target dataset…

This tutorial survey provides an overview of recent non-asymptotic advances in statistical learning theory as relevant to control and system identification. While there has been substantial progress across all areas of control, the theory…

Linear quadratic regulator (LQR) is one of the most popular frameworks to tackle continuous Markov decision process tasks. With its fundamental theory and tractable optimal policy, LQR has been revisited and analyzed in recent years, in…

Transfer learning can significantly improve the sample efficiency of neural networks, by exploiting the relatedness between a data-scarce target task and a data-abundant source task. Despite years of successful applications, transfer…

Trajectory planning in autonomous driving is highly dependent on predicting the emergent behavior of other road users. Learning-based methods are currently showing impressive results in simulation-based challenges, with transformer-based…

The increasing penetration of converter-based renewable generation has resulted in faster frequency dynamics, and low and variable inertia. As a result, there is a need for frequency control methods that are able to stabilize a disturbance…

This paper studies transfer learning for ridge-regularized robust linear regression in the moderate-dimensional regime, where the number of predictors is of the same order as the sample size and the regression coefficients are not assumed…

``Sim2real gap", in which the system learned in simulations is not the exact representation of the real system, can lead to loss of stability and performance when controllers learned using data from the simulated system are used on the real…

This paper introduces a biomolecular Linear Quadratic Regulator (LQR) to investigate the design principles of gene regulatory networks. We show that for fundamental gene regulation network, the bio-controller derived from LQR theory…

In many business settings, task-specific labeled data are scarce or costly to obtain, limiting supervised learning on a target task. A classical response is transfer learning (TL). Many TL works study how to transfer information from…

We propose controller synthesis for state regulation problems in which a human operator shares control with an autonomy system, running in parallel. The autonomy system continuously improves over human action, with minimal intervention, and…

In this paper we explore the Linear-Quadratic Regulator (LQR) to model movement of the mouse pointer. We propose a model in which users are assumed to behave optimally with respect to a certain cost function. Users try to minimize the…

This paper presents a novel direct data-driven control framework for solving the linear quadratic regulator (LQR) under disturbances and noisy state measurements. The system dynamics are assumed unknown, and the LQR solution is learned…

Model-based controllers learned from data have the biases and noise of their training trajectories, making it important to know which trajectories help or hurt closed-loop performance. Influence functions, widely used in machine learning…

In this paper, a novel Q-learning scheduling method for the current controller of switched reluctance motor (SRM) drive is investigated. Q-learning algorithm is a class of reinforcement learning approaches that can find the best…

Domain adaptation refers to the process of learning prediction models in a target domain by making use of data from a source domain. Many classic methods solve the domain adaptation problem by establishing a common latent space, which may…

Real-time optimal control remains a fundamental challenge in robotics, especially for nonlinear systems with stringent performance requirements. As one of the representative trajectory optimization algorithms, the iterative Linear Quadratic…

Reinforcement learning is a model-free optimal control method that optimizes a control policy through direct interaction with the environment. For reaching tasks that end in regulation, popular discrete-action methods are not well suited…

We propose a new risk-constrained reformulation of the standard Linear Quadratic Regulator (LQR) problem. Our framework is motivated by the fact that the classical (risk-neutral) LQR controller, although optimal in expectation, might be…