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

Learning-based methods have enabled robots to acquire bio-inspired movements with increasing levels of naturalness and adaptability. Among these, Imitation Learning (IL) has proven effective in transferring complex motion patterns from…

Deep reinforcement learning can generate complex control policies, but requires large amounts of training data to work effectively. Recent work has attempted to address this issue by leveraging differentiable simulators. However, inherent…

Reinforcement learning has received high research interest for developing planning approaches in automated driving. Most prior works consider the end-to-end planning task that yields direct control commands and rarely deploy their algorithm…

Perceived signals in real-world scenarios are usually high-dimensional and noisy, and finding and using their representation that contains essential and sufficient information required by downstream decision-making tasks will help improve…

The impulse-based discrete feedback control has been proposed in previous work for the second-order motion systems with damping uncertainties. The sate-dependent discrete impulse action takes place at zero crossing of one of both states,…

The analysis of high-dimensional dynamical systems generally requires the integration of simulation data with experimental measurements. Experimental data often has substantial amounts of measurement noise that compromises the ability to…

A main focus of machine learning research has been improving the generalization accuracy and efficiency of prediction models. Many models such as SVM, random forest, and deep neural nets have been proposed and achieved great success.…

This paper considers a class of reinforcement learning problems, which involve systems with two types of states: stochastic and pseudo-stochastic. In such systems, stochastic states follow a stochastic transition kernel while the…

Reinforcement learning (RL) can be formulated as a sequence modeling problem, where models predict future actions based on historical state-action-reward sequences. Current approaches typically require long trajectory sequences to model the…

Advanced Air Mobility (AAM) introduces a new, efficient mode of transportation with the use of vehicle autonomy and electrified aircraft to provide increasingly autonomous transportation between previously underserved markets. Safe and…

In this paper, a new adaptive multi-batch experience replay scheme is proposed for proximal policy optimization (PPO) for continuous action control. On the contrary to original PPO, the proposed scheme uses the batch samples of past…

In many, if not every realistic sequential decision-making task, the decision-making agent is not able to model the full complexity of the world. The environment is often much larger and more complex than the agent, a setting also known as…

The paper is devoted to the approximate consensus problem for networks of nonlinear agents with switching topology, noisy and delayed measurements. In contrast to the existing stochastic approximation-based control algorithms (protocols), a…

This paper presents a Nonlinear Model Predictive Control (NMPC) scheme targeted at motion planning for mechatronic motion systems, such as drones and mobile platforms. NMPC-based motion planning typically requires low computation times to…

We present a semi-supervised learning approach to the temporal action segmentation task. The goal of the task is to temporally detect and segment actions in long, untrimmed procedural videos, where only a small set of videos are densely…

Pairwise comparison data arise in many domains with subjective assessment experiments, for example in image and video quality assessment. In these experiments observers are asked to express a preference between two conditions. However, many…

Traditionally, reinforcement learning methods predict the next action based on the current state. However, in many situations, directly applying actions to control systems or robots is dangerous and may lead to unexpected behaviors because…

Model Predictive Control (MPC) offers rigorous safety and performance guarantees but is computationally intensive. Approximate MPC (AMPC) aims to circumvent this drawback by learning a computationally cheaper surrogate policy. Common…

Recently, various auxiliary tasks have been proposed to accelerate representation learning and improve sample efficiency in deep reinforcement learning (RL). However, existing auxiliary tasks do not take the characteristics of RL problems…

This work considers the problem of transfer learning in the context of reinforcement learning. Specifically, we consider training a policy in a reduced order system and deploying it in the full state system. The motivation for this training…