相关论文: Safe Reinforcement Learning-Based Vibration Contro…

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…

Work-Related Musculoskeletal Disorders continue to be a major challenge in industrial environments, leading to reduced workforce participation, increased healthcare costs, and long-term disability. This study introduces a human-sensitive…

Training sophisticated agents for optimal decision-making under uncertainty has been key to the rapid development of modern autonomous systems across fields. Notably, model-free reinforcement learning (RL) has enabled decision-making agents…

Safety comes first in many real-world applications involving autonomous agents. Despite a large number of reinforcement learning (RL) methods focusing on safety-critical tasks, there is still a lack of high-quality evaluation of those…

The transfer of reinforcement learning (RL) techniques into real-world applications is challenged by safety requirements in the presence of physical limitations. Most RL methods, in particular the most popular algorithms, do not support…

Collision avoidance is key for mobile robots and agents to operate safely in the real world. In this work we present SAFER, an efficient and effective collision avoidance system that is able to improve safety by correcting the control…

Deep reinforcement learning (RL) is an optimization-driven framework for producing control strategies for general dynamical systems without explicit reliance on process models. Good results have been reported in simulation. Here we…

For all its successes, Reinforcement Learning (RL) still struggles to deliver formal guarantees on the closed-loop behavior of the learned policy. Among other things, guaranteeing the safety of RL with respect to safety-critical systems is…

Ensuring safety via safety filters in real-world robotics presents significant challenges, particularly when the system dynamics is complex or unavailable. To handle this issue, learning-based safety filters recently gained popularity,…

In this paper, we develop a grid-interactive multi-zone building controller based on a deep reinforcement learning (RL) approach. The controller is designed to facilitate building operation during normal conditions and demand response…

The sample inefficiency of reinforcement learning (RL) remains a significant challenge in robotics. RL requires large-scale simulation and can still cause long training times, slowing research and innovation. This issue is particularly…

Reinforcement Learning (RL) of robotic manipulation skills, despite its impressive successes, stands to benefit from incorporating domain knowledge from control theory. One of the most important properties that is of interest is control…

We propose a new reinforcement learning based approach to designing hierarchical linear quadratic regulator (LQR) controllers for heterogeneous linear multi-agent systems with unknown state-space models and separated control objectives. The…

Reinforcement learning (RL) exhibits impressive performance when managing complicated control tasks for robots. However, its wide application to physical robots is limited by the absence of strong safety guarantees. To overcome this…

In this paper, we demonstrate a Symbolic Reinforcement Learning (SRL) architecture for safe control in Radio Access Network (RAN) applications. In our automated tool, a user can select a high-level safety specifications expressed in Linear…

This article introduces a novel sample-efficient curriculum learning (CL) approach for training an end-to-end reinforcement learning (RL) policy for robust stabilization of a Quadrotor. The learning objective is to simultaneously stabilize…

There have been attempts in reinforcement learning to exploit a priori knowledge about the structure of the system. This paper proposes a hybrid reinforcement learning controller which dynamically interpolates a model-based linear…

In this paper, we present a Symbolic Reinforcement Learning (SRL) based architecture for safety control of Radio Access Network (RAN) applications. In particular, we provide a purely automated procedure in which a user can specify…

Improving system-level resiliency of networked microgrids is an important aspect with increased population of inverter-based resources (IBRs). This paper (1) presents resilient control design in presence of adversarial cyber-events, and…

The linear quadratic regulator (LQR) problem has reemerged as an important theoretical benchmark for reinforcement learning-based control of complex dynamical systems with continuous state and action spaces. In contrast with nearly all…