相关论文: Enhancing Control Policy Smoothness by Aligning Ac…

In this work we seek for an approach to integrate safety in the learning process that relies on a partly known state-space model of the system and regards the unknown dynamics as an additive bounded disturbance. We introduce a framework for…

Transfer reinforcement learning aims to improve the sample efficiency of solving unseen new tasks by leveraging experiences obtained from previous tasks. We consider the setting where all tasks (MDPs) share the same environment dynamic…

In this paper, we consider controlling a class of single-input-single-output (SISO) commensurate fractional-order nonlinear systems with parametric uncertainty and external disturbance. Based on backstepping approach, an adaptive controller…

This article deals with the implementation of the Smith Predictor for state feedback control in state space representation. The desired control law, obtained using partial differential equations and backstepping control, contains an…

Diffusion models have seen rapid adoption in robotic imitation learning, enabling autonomous execution of complex dexterous tasks. However, action synthesis is often slow, requiring many steps of iterative denoising, limiting the extent to…

This paper proposes an adaptive dynamic programming-based adaptive-gain sliding mode control (ADP-ASMC) scheme for a fixed-wing unmanned aerial vehicle (UAV) with matched and unmatched disturbances. Starting from the dynamic of fixed-wing…

Developed to alleviate prohibitive labeling costs, active learning (AL) methods aim to reduce label complexity in supervised learning. While recent work has demonstrated the benefit of using AL in combination with large pre-trained language…

Reinforcement learning for control over continuous spaces typically uses high-entropy stochastic policies, such as Gaussian distributions, for local exploration and estimating policy gradient to optimize performance. Many robotic control…

Many problems in Reinforcement Learning (RL) seek an optimal policy with large discrete multidimensional yet unordered action spaces; these include problems in randomized allocation of resources such as placements of multiple security…

To learn from data collected in diverse dynamics, Imitation from Observation (IfO) methods leverage expert state trajectories based on the premise that recovering expert state distributions in other dynamics facilitates policy learning in…

Symbolic control techniques aim to satisfy complex logic specifications. A critical step in these techniques is the construction of a symbolic (discrete) abstraction, a finite-state system whose behaviour mimics that of a given…

Offline reinforcement learning (RL) enables learning effective policies from fixed datasets without any environment interaction. Existing methods typically employ policy constraints to mitigate the distribution shift encountered during…

In this paper, we introduce MAAD, a novel, sample-efficient on-policy algorithm for Imitation Learning from Observations. MAAD utilizes a surrogate reward signal, which can be derived from various sources such as adversarial games,…

This paper addresses the challenges of embedding common droop control characteristics in ac-dc power system steady-state simulation and optimization problems. We propose a smooth approximation methodology to construct differentiable…

This paper explores the development of learning-based tunable control gains using EMT-in-the-loop simulation framework (e.g., PSCAD interfaced with Python-based learning modules) to address critical sub-synchronous oscillations. Since…

Goal-conditioned dynamic manipulation is inherently challenging due to complex system dynamics and stringent task constraints, particularly in deformable object scenarios characterized by high degrees of freedom and underactuation. Prior…

Imitation learning, particularly Diffusion Policies based methods, has recently gained significant traction in embodied AI as a powerful approach to action policy generation. These models efficiently generate action policies by learning to…

Soft Actor-Critic (SAC) is an off-policy actor-critic reinforcement learning algorithm, essentially based on entropy regularization. SAC trains a policy by maximizing the trade-off between expected return and entropy (randomness in the…

Policy iteration is one of the classical frameworks of reinforcement learning, which requires a known initial stabilizing control. However, finding the initial stabilizing control depends on the known system model. To relax this requirement…

Earthquakes are lethal and costly. This study aims at avoiding these catastrophic events by the application of injection policies retrieved through reinforcement learning. With the rapid growth of artificial intelligence, prediction-control…