相关论文: End-to-End Multi-Task Policy Learning from NMPC fo…

Model predictive control (MPC) has shown great success for controlling complex systems such as legged robots. However, when closing the loop, the performance and feasibility of the finite horizon optimal control problem (OCP) solved at each…

Designing a model predictive control (MPC) scheme that enables a mobile robot to safely navigate through an obstacle-filled environment is a complicated yet essential task in robotics. In this technical report, safety refers to ensuring…

This paper proposes a real-time model predictive control (MPC) scheme to execute multiple tasks using robots over a finite-time horizon. In industrial robotic applications, we must carefully consider multiple constraints for avoiding joint…

(Economic) nonlinear model predictive control ((e)NMPC) requires dynamic models that are sufficiently accurate and computationally tractable. Data-driven surrogate models for mechanistic models can reduce the computational burden of…

Deep learning approaches have achieved great success in the field of Natural Language Processing (NLP). However, directly training deep neural models often suffer from overfitting and data scarcity problems that are pervasive in NLP tasks.…

Control of legged robots is a challenging problem that has been investigated by different approaches, such as model-based control and learning algorithms. This work proposes a novel Imitating and Finetuning Model Predictive Control (IFM)…

The computational power of mobile robots is currently insufficient to achieve torque level whole-body Model Predictive Control (MPC) at the update rates required for complex dynamic systems such as legged robots. This problem is commonly…

In the field of legged robot motion control, reinforcement learning (RL) holds great promise but faces two major challenges: high computational cost for training individual robots and poor generalization of trained models. To address these…

Multi-task learning (MTL) is a machine learning technique aiming to improve model performance by leveraging information across many tasks. It has been used extensively on various data modalities, including electronic health record (EHR)…

Scarcity of parallel sentence pairs is a major challenge for training high quality neural machine translation (NMT) models in bilingually low-resource scenarios, as NMT is data-hungry. Multi-task learning is an elegant approach to inject…

In this paper we focus on developing a control algorithm for multi-terrain tracked robots with flippers using a reinforcement learning (RL) approach. The work is based on the deep deterministic policy gradient (DDPG) algorithm, proven to be…

In this article, we show that learned policies can be applied to solve legged locomotion control tasks with extensive flight phases, such as those encountered in space exploration. Using an off-the-shelf deep reinforcement learning…

Legged robots possess a unique ability to traverse rough terrains and navigate cluttered environments, making them well-suited for complex, real-world unstructured scenarios. However, such robots have not yet achieved the same level as seen…

Multi-task learning (MTL) improves generalization and data efficiency by jointly learning related tasks through shared representations. In the widely used hard-parameter-sharing setting, a shared backbone is combined with task-specific…

Legged locomotion in unstructured environments demands not only high-performance control policies but also formal guarantees to ensure robustness under perturbations. Control methods often require carefully designed reference trajectories,…

This article presents a Visual Servoing Nonlinear Model Predictive Control (NMPC) scheme for autonomously tracking a moving target using multirotor Unmanned Aerial Vehicles (UAVs). The scheme is developed for surveillance and tracking of…

Scalable multi-robot transition is essential for ubiquitous adoption of robots. As a step towards it, a computationally efficient decentralized algorithm for continuous-time trajectory optimization in multi-robot scenarios based upon model…

Legged robots must exhibit robust and agile locomotion across diverse, unstructured terrains, a challenge exacerbated under blind locomotion settings where terrain information is unavailable. This work introduces a hierarchical…

To control the lower-limb exoskeleton robot effectively, it is essential to accurately recognize user status and environmental conditions. Previous studies have typically addressed these recognition challenges through independent models for…

Model predictive control (MPC) is an effective method for controlling robotic systems, particularly autonomous aerial vehicles such as quadcopters. However, application of MPC can be computationally demanding, and typically requires…