相关论文: Inverse RL Scene Dynamics Learning for Nonlinear P…

This paper focuses on inverse reinforcement learning for autonomous navigation using distance and semantic category observations. The objective is to infer a cost function that explains demonstrated behavior while relying only on the…

This paper considers the problem of real-time control and learning in dynamic systems subjected to parametric uncertainties. We propose a combination of a Reinforcement Learning (RL) based policy in the outer loop suitably chosen to ensure…

We present a new method for learning control law that stabilizes an unknown nonlinear dynamical system at an equilibrium point. We formulate a system identification task in a self-supervised learning setting that jointly learns a controller…

Complex mechanical systems such as vehicle powertrains are inherently subject to multiple nonlinearities and uncertainties arising from parametric variations. Modeling errors are therefore unavoidable, making the transfer of control systems…

This paper proposes a Nonlinear Model-Predictive Control (NMPC) method capable of finding and converging to energy-efficient regular oscillations, which require no control action to be sustained. The approach builds up on the recently…

In this paper, we propose a novel Deep Reinforcement Learning approach to address the mapless navigation problem, in which the locomotion actions of a humanoid robot are taken online based on the knowledge encoded in learned models.…

Model reduction of high-dimensional dynamical systems alleviates computational burdens faced in various tasks from design optimization to model predictive control. One popular model reduction approach is based on projecting the governing…

This paper introduces a novel nonlinear model predictive control (NMPC) framework that incorporates a lifting technique to enhance control performance for nonlinear systems. While the lifting technique has been widely employed in linear…

In this work we present a system identification procedure based on Convolutional Neural Networks (CNN) for human posture control models. A usual approach to the study of human posture control consists in the identification of parameters for…

We present a versatile nonlinear model predictive control (NMPC) formulation for quadrupedal locomotion. Our formulation jointly optimizes a base trajectory and a set of footholds over a finite time horizon based on simplified dynamics…

This paper compares two different types of data-driven control methods, representing model-based and model-free approaches. One is a recently proposed method - Deep Koopman Representation for Control (DKRC), which utilizes a deep neural…

The control of complex systems is of critical importance in many branches of science, engineering, and industry. Controlling an unsteady fluid flow is particularly important, as flow control is a key enabler for technologies in energy…

We propose a robust nonlinear model predictive control (MPC) scheme for trajectory-tracking control of autonomous vehicles at the limits of handling on non-planar road surfaces. We derive the dynamics from first principles and selectively…

In this paper, we propose, discuss, and validate an online Nonlinear Model Predictive Control (NMPC) method for multi-rotor aerial systems with arbitrarily positioned and oriented rotors which simultaneously addresses the local reference…

A sudden roadblock on highways due to many reasons such as road maintenance, accidents, and car repair is a common situation we encounter almost daily. Autonomous Vehicles (AVs) equipped with sensors that can acquire vehicle dynamics such…

A learning method is proposed for Koopman operator-based models with the goal of improving closed-loop control behavior. A neural network-based approach is used to discover a space of observables in which nonlinear dynamics is linearly…

In recent years, the concept of artificial intelligence (AI) has become a prominent keyword because it is promising in solving complex tasks. The need for human expertise in specific areas may no longer be needed because machines have…

Focusing on the task of point-to-point navigation for an autonomous driving vehicle, we propose a novel deep learning model trained with end-to-end and multi-task learning manners to perform both perception and control tasks simultaneously.…

We propose a deep reinforcement learning approach for solving a mapless navigation problem in warehouse scenarios. In our approach, an automation guided vehicle is equipped with LiDAR and frontal RGB sensors and learns to perform a targeted…

We embark on a hitherto unreported problem of an autonomous robot (self-driving car) navigating in dynamic scenes in a manner that reduces its localization error and eventual cumulative drift or Absolute Trajectory Error, which is…