相关论文: Robust Exploration in Directed Controller Synthesi…

We present a reinforcement learning (RL) framework to synthesize a control policy from a given linear temporal logic (LTL) specification in an unknown stochastic environment that can be modeled as a Markov Decision Process (MDP).…

Model-free continuous control for robot navigation tasks using Deep Reinforcement Learning (DRL) that relies on noisy policies for exploration is sensitive to the density of rewards. In practice, robots are usually deployed in cluttered…

Traditional wind farm control operates each turbine independently to maximize individual power output. However, coordinated wake steering across the entire farm can substantially increase the combined wind farm energy production. Although…

Reinforcement learning (RL) policies are prone to high-frequency oscillations, especially undesirable when deploying to hardware in the real-world. In this paper, we identify, categorize, and compare methods from the literature that aim to…

We propose an exploration method that incorporates look-ahead search over basic learnt skills and their dynamics, and use it for reinforcement learning (RL) of manipulation policies . Our skills are multi-goal policies learned in isolation…

The recent development of zero-shot reinforcement learning (RL) has opened a new avenue for learning pre-trained generalist policies that can adapt to arbitrary new tasks in a zero-shot manner. While the popular Forward-Backward…

Diffusion-based policies have recently shown strong results in robot manipulation, but their extension to multi-task scenarios is hindered by the high cost of scaling model size and demonstrations. We introduce Skill Mixture-of-Experts…

Traditional control methods effectively manage robot operations using models like motion equations but face challenges with issues of contact and friction, leading to unstable and imprecise controllers that often require manual tweaking.…

Robotic grasping under uncertainty remains a fundamental challenge due to its uncertain and contact-rich nature. Traditional rigid robotic hands, with limited degrees of freedom and compliance, rely on complex model-based and heavy feedback…

Stochastic policies (also known as relaxed controls) are widely used in continuous-time reinforcement learning algorithms. However, executing a stochastic policy and evaluating its performance in a continuous-time environment remain open…

Reinforcement learning (RL)-based driver assistance systems seek to improve fuel consumption via continual improvement of powertrain control actions considering experiential data from the field. However, the need to explore diverse…

Sequential recommendation, where user preference is dynamically inferred from sequential historical behaviors, is a critical task in recommender systems (RSs). To further optimize long-term user engagement, offline…

Many real-world control problems involve both discrete decision variables - such as the choice of control modes, gear switching or digital outputs - as well as continuous decision variables - such as velocity setpoints, control gains or…

This study presents a transformer-based approach for fault-tolerant control in fixed-wing Unmanned Aerial Vehicles (UAVs), designed to adapt in real time to dynamic changes caused by structural damage or actuator failures. Unlike…

Active flow control of compressible transonic shock-boundary layer interactions over a two-dimensional RAE2822 airfoil at Re = 50,000 is investigated using deep reinforcement learning (DRL). The flow field exhibits highly unsteady dynamics,…

Quadcopters have been studied for decades thanks to their maneuverability and capability of operating in a variety of circumstances. However, quadcopters suffer from dynamical nonlinearity, actuator saturation, as well as sensor noise that…

The safe application of reinforcement learning (RL) requires generalization from limited training data to unseen scenarios. Yet, fulfilling tasks under changing circumstances is a key challenge in RL. Current state-of-the-art approaches for…

Tilt-rotor aerial robots enable omnidirectional maneuvering through thrust vectoring, but introduce significant control challenges due to the strong coupling between joint and rotor dynamics. While model-based controllers can achieve high…

In this work we present a novel extension of soft actor critic, a state of the art deep reinforcement algorithm. Our method allows us to combine traditional controllers with learned neural network policies. This combination allows us to…

We present a novel framework for robust out-of-distribution planning and control using conformal prediction (CP) and system level synthesis (SLS), addressing the challenge of ensuring safety and robustness when using learned dynamics models…