相关论文: Control of a Twin Rotor using Twin Delayed Deep De…

Reinforcement Learning (RL) methods have been proven successful in solving manipulation tasks autonomously. However, RL is still not widely adopted on real robotic systems because working with real hardware entails additional challenges,…

Deep reinforcement learning (DRL) has found application in numerous use-cases pertaining to flow control. Multi-agent RL (MARL), a variant of DRL, has shown to be more effective than single-agent RL in controlling flows exhibiting locality…

This paper addresses a drone ball-balancing task, in which a drone stabilizes a ball atop a movable beam through cable-based interaction. We propose a hierarchical control framework that decouples high-level balancing policy from low-level…

Advanced model-based controllers are well established in process industries. However, such controllers require regular maintenance to maintain acceptable performance. It is a common practice to monitor controller performance continuously…

The real power of artificial intelligence appears in reinforcement learning, which is computationally and physically more sophisticated due to its dynamic nature. Rotation and injection are some of the proven ways in active flow control for…

Heating, Ventilation, and Air Conditioning (HVAC) systems are a major driver of energy consumption in commercial and residential buildings. Recent studies have shown that Deep Reinforcement Learning (DRL) algorithms can outperform…

Deep Reinforcement Learning (DRL) algorithms can scale to previously intractable problems. The automation of profit generation in the stock market is possible using DRL, by combining the financial assets price "prediction" step and the…

Turbulent-flow control aims to develop strategies that effectively manipulate fluid systems, such as the reduction of drag in transportation and enhancing energy efficiency, both critical steps towards reducing global CO$_2$ emissions. Deep…

Robust control of mechanical systems with multiple uncertainties remains a fundamental challenge, particularly when nonlinear dynamics and operating-condition variations are intricately intertwined. Although deep reinforcement learning…

Today, human operators primarily perform voltage control of the electric transmission system. As the complexity of the grid increases, so does its operation, suggesting additional automation could be beneficial. A subset of machine learning…

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…

Deep Reinforcement Learning (DRL) for quadrotor flight control typically relies on Domain Randomization (DR) for sim-to-real transfer, resulting in overly conservative policies that struggle with dynamic disturbances. To overcome this, we…

Active Reconfigurable Intelligent Surfaces (RIS) are a promising technology for 6G wireless networks. This paper investigates a novel hybrid deep reinforcement learning (DRL) framework for resource allocation in a multi-user uplink system…

In this work, we first describe a framework for the application of Reinforcement Learning (RL) control to a radar system that operates in a congested spectral setting. We then compare the utility of several RL algorithms through a…

Deep reinforcement learning (RL) uses model-free techniques to optimize task-specific control policies. Despite having emerged as a promising approach for complex problems, RL is still hard to use reliably for real-world applications. Apart…

Reinforcement learning (RL) has shown great effectiveness in quadrotor control, enabling specialized policies to develop even human-champion-level performance in single-task scenarios. However, these specialized policies often struggle with…

Many existing traffic signal controllers are either simple adaptive controllers based on sensors placed around traffic intersections, or optimized by traffic engineers on a fixed schedule. Optimizing traffic controllers is time consuming…

The controller is one of the most important modules in the autonomous driving pipeline, ensuring the vehicle reaches its desired position. In this work, a reinforcement learning based lateral control approach, despite the imperfections in…

In this paper, a new population-guided parallel learning scheme is proposed to enhance the performance of off-policy reinforcement learning (RL). In the proposed scheme, multiple identical learners with their own value-functions and…

Reinforcement learning (RL) has attracted increasing interest for adaptive traffic signal control due to its model-free ability to learn control policies directly from interaction with the traffic environment. However, several challenges…