相关论文: Learning global control of underactuated systems w…
Sampling-based model predictive control (MPC) has found significant success in optimal control problems with non-smooth system dynamics and cost function. Many machine learning-based works proposed to improve MPC by a) learning or…
An important function of autonomous microrobots is the ability to perform robust movement over terrain. This paper explores an edge ML approach to microrobot locomotion, allowing for on-device, lower latency control under compute, memory,…
A major challenge in robotics is to design robust policies which enable complex and agile behaviors in the real world. On one end of the spectrum, we have model-free reinforcement learning (MFRL), which is incredibly flexible and general…
Model Predictive Control (MPC) is attracting tremendous attention in the autonomous driving task as a powerful control technique. The success of an MPC controller strongly depends on an accurate internal dynamics model. However, the static…
This paper introduces a novel model-free and a partially model-free algorithm for inverse optimal control (IOC), also known as inverse reinforcement learning (IRL), aimed at estimating the cost function of continuous-time nonlinear…
We present a Monte-Carlo simulation algorithm for real-time policy improvement of an adaptive controller. In the Monte-Carlo simulation, the long-term expected reward of each possible action is statistically measured, using the initial…
Reinforcement learning (RL) is a promising tool to solve robust optimal well control problems where the model parameters are highly uncertain, and the system is partially observable in practice. However, RL of robust control policies often…
We provide a framework for incorporating robustness -- to perturbations in the transition dynamics which we refer to as model misspecification -- into continuous control Reinforcement Learning (RL) algorithms. We specifically focus on…
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…
Reinforcement Learning (RL) has demonstrated a huge potential in learning optimal policies without any prior knowledge of the process to be controlled. Model Predictive Control (MPC) is a popular control technique which is able to deal with…
Ranging from cart-pole systems and autonomous bicycles to bipedal robots, control of these underactuated balance robots aims to achieve both external (actuated) subsystem trajectory tracking and internal (unactuated) subsystem balancing…
We focus on developing efficient and reliable policy optimization strategies for robot learning with real-world data. In recent years, policy gradient methods have emerged as a promising paradigm for training control policies in simulation.…
In this paper an output-feedback model-based reinforcement learning (MBRL) method for a class of second-order nonlinear systems is developed. The control technique uses exact model knowledge and integrates a dynamic state estimator within…
Model-based reinforcement learning (MBRL) techniques have recently yielded promising results for real-world autonomous racing using high-dimensional observations. MBRL agents, such as Dreamer, solve long-horizon tasks by building a world…
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…
Reinforcement learning (RL) and trajectory optimization (TO) present strong complementary advantages. On one hand, RL approaches are able to learn global control policies directly from data, but generally require large sample sizes to…
Model-based reinforcement learning (MBRL) with model-predictive control or online planning has shown great potential for locomotion control tasks in terms of both sample efficiency and asymptotic performance. Despite their initial…
Deploying learned control policies in real-world environments poses a fundamental challenge. When system dynamics change unexpectedly, performance degrades until models are retrained on new data. We introduce Reflexive World Models (RWM), a…
Advanced vehicle control is a fundamental building block in the development of autonomous driving systems. Reinforcement learning (RL) promises to achieve control performance superior to classical approaches while keeping computational…
Reinforcement learning has demonstrated impressive performance in various challenging problems such as robotics, board games, and classical arcade games. However, its real-world applications can be hindered by the absence of robustness and…