相关论文: Residual Control for Fast Recovery from Dynamics S…

Robotic policies deployed in real-world environments often encounter post-training faults, where retraining, exploration, or system identification are impractical. We introduce an inference-time, cerebellar-inspired residual control…

The control of nonlinear systems with unknown dynamics has been a significant field of research for many years. This paper presents a novel data-driven optimal adaptive control structure with less control effort and faster adaptation than…

We propose a simple, practical and intuitive approach to improve the performance of a conventional controller in uncertain environments using deep reinforcement learning while maintaining safe operation. Our approach is motivated by the…

The development of vehicle controllers for autonomous racing is challenging because racing cars operate at their physical driving limit. Prompted by the demand for improved performance, autonomous racing research has seen the proliferation…

Learning a general whole-body controller for humanoid robots remains challenging due to the diversity of motion distributions, the difficulty of fast adaptation, and the need for robust balance in high-dynamic scenarios. Existing approaches…

Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…

Robots are increasingly entering uncertain and unstructured environments. Within these, robots are bound to face unexpected external disturbances like accidental human or tool collisions. Robots must develop the capacity to respond to…

Simulation-to-real transfer using domain randomization for robot control often relies on low-gear-ratio, backdrivable actuators, but these approaches break down when the sim-to-real gap widens. Inspired by the traditional PID controller, we…

Predictive Feedback Control is an easy-to-implement method to stabilize unknown unstable periodic orbits in chaotic dynamical systems. Predictive Feedback Control is severely limited because asymptotic convergence speed decreases with…

This article proposes a Model Reference Adaptive Control (MRAC) strategy to achieve fixed-time convergence of parameter estimation and tracking errors for unknown linear time-invariant systems, without relying on the persistence of…

Designing a stabilizing controller for nonlinear systems is a challenging task, especially for high-dimensional problems with unknown dynamics. Traditional reinforcement learning algorithms applied to stabilization tasks tend to drive the…

Learning-based control methods typically assume stationary system dynamics, an assumption often violated in real-world systems due to drift, wear, or changing operating conditions. We study reinforcement learning for control under…

Diffusion Policy has dominated action generation due to its strong capabilities for modeling multi-modal action distributions, but its multi-step denoising processes make it impractical for real-time visuomotor control. Existing…

This paper presents a Robust Adaptive Backstepping Impedance Control (RABIC) strategy for robots operating in contact-rich and uncertain environments. The proposed control strategy considers the complete coupled dynamics of the system and…

Robotic manipulation in unstructured environments requires reliable execution under diverse conditions, yet many state-of-the-art systems still struggle with high-dimensional action spaces, sparse rewards, and slow generalization beyond…

Reinforcement learning has shown great promise for synthesizing realistic human behaviors by learning humanoid control policies from motion capture data. However, it is still very challenging to reproduce sophisticated human skills like…

Humanoid robots remain vulnerable to falls and unrecoverable failure states, limiting their practical utility in unstructured environments. While reinforcement learning has demonstrated stand-up behaviors, existing approaches treat recovery…

Model-based Reinforcement Learning and Control have demonstrated great potential in various sequential decision making problem domains, including in robotics settings. However, real-world robotics systems often present challenges that limit…

We study the problem of policy repair for learning-based control policies in safety-critical settings. We consider an architecture where a high-performance learning-based control policy (e.g. one trained as a neural network) is paired with…

We demonstrate that time-delayed feedback control can be improved by adaptively tuning the feedback gain. This adaptive controller is applied to the stabilization of an unstable fixed point and an unstable periodic orbit embedded in a…