相关论文: A Robust Task-Level Control Architecture for Learn…

In task-based inverse dynamics control, reference accelerations used to follow a desired plan can be broken down into feedforward and feedback trajectories. The feedback term accounts for tracking errors that are caused from inaccurate…

Learning-based control methods utilize run-time data from the underlying process to improve the controller performance under model mismatch and unmodeled disturbances. This is beneficial for optimizing industrial processes, where the…

We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…

Deep Reinforcement Learning (DRL) is emerging as a promising approach to generate adaptive behaviors for robotic platforms. However, a major drawback of using DRL is the data-hungry training regime that requires millions of trial and error…

Reinforcement learning often suffer from the sparse reward issue in real-world robotics problems. Learning from demonstration (LfD) is an effective way to eliminate this problem, which leverages collected expert data to aid online learning.…

This paper studies the finite-horizon robust optimal control of constrained linear systems subject to model mismatch and additive stochastic disturbances. Utilizing the system level synthesis (SLS) parameterization, we propose a novel SLS…

Non-linear dynamical systems represent a compact, flexible, and robust tool for reactive motion generation. The effectiveness of dynamical systems relies on their ability to accurately represent stable motions. Several approaches have been…

The goal of this paper is to develop data-driven control design and evaluation strategies based on linear matrix inequalities (LMIs) and dynamic programming. We consider deterministic discrete-time LTI systems, where the system model is…

We consider joint trajectory generation and tracking control for under-actuated robotic systems. A common solution is to use a layered control architecture, where the top layer uses a simplified model of system dynamics for trajectory…

Effective human-robot teaming is crucial for the practical deployment of robots in human workspaces. However, optimizing joint human-robot plans remains a challenge due to the difficulty of modeling individualized human capabilities and…

Operating effectively in complex environments while complying with specified constraints is crucial for the safe and successful deployment of robots that interact with and operate around people. In this work, we focus on generating…

Incremental input-to-state stability (delta-ISS) offers a robust framework to ensure that small input variations result in proportionally minor deviations in the state of a nonlinear system. This property is essential in practical…

Linear Dynamical System (LDS) is an elegant mathematical framework for modeling and learning multivariate time series. However, in general, it is difficult to set the dimension of its hidden state space. A small number of hidden states may…

We study the problem of learning to stabilize (LTS) a linear time-invariant (LTI) system. Policy gradient (PG) methods for control assume access to an initial stabilizing policy. However, designing such a policy for an unknown system is one…

In this paper, we present a controller that combines motion generation and control in one loop, to endow robots with reactivity and safety. In particular, we propose a control approach that enables to follow the motion plan of a first order…

Tendon-Driven Continuum Robots (TDCRs) pose significant modeling and control challenges due to complex nonlinearities, such as frictional hysteresis and transmission compliance. This paper proposes a differentiable learning framework that…

Learning from Demonstration (LfD) has shown to provide robots with fundamental motion skills for a variety of domains. Various branches of LfD research (e.g., learned dynamical systems and movement primitives) can generally be classified…

Learning from demonstration (LfD) has the potential to greatly increase the applicability of robotic manipulators in modern industrial applications. Recent progress in LfD methods have put more emphasis in learning robustness than in…

Latent representations are critical for the performance and robustness of machine learning models, as they encode the essential features of data in a compact and informative manner. However, in vision tasks, these representations are often…

Learning from Demonstration (LfD) is a popular approach for robots to acquire new skills, but most LfD methods suffer from imperfections in human demonstrations. Prior work typically treats these suboptimalities as random noise. In this…