相关论文: Active Learning MPC Objective Functions from Prefe…

Model predictive control (MPC) is a powerful, optimization-based approach for controlling dynamical systems. However, the computational complexity of online optimization can be problematic on embedded devices. Especially, when we need to…

Recommender systems play a critical role in enhancing user experience by providing personalized suggestions based on user preferences. Traditional approaches often rely on explicit numerical ratings or assume access to fully ranked lists of…

Active learning is commonly used to train label-efficient models by adaptively selecting the most informative queries. However, most active learning strategies are designed to either learn a representation of the data (e.g., embedding or…

Model predictive control (MPC) is a popular approach for trajectory optimization in practical robotics applications. MPC policies can optimize trajectory parameters under kinodynamic and safety constraints and provide guarantees on safety,…

This work evaluates and analyzes the combination of imitation learning (IL) and differentiable model predictive control (MPC) for the application of human-like autonomous driving. We combine MPC with a hierarchical learning-based policy,…

Multi-Objective Learning Model Predictive Control is a novel data-driven control scheme which improves a linear system's closed-loop performance with respect to several convex control objectives over iterations of a repeated task. At each…

In multi-domain learning (MDL) scenarios, high labeling effort is required due to the complexity of collecting data from various domains. Active Learning (AL) presents an encouraging solution to this issue by annotating a smaller number of…

Sampling-based Model Predictive Control (MPC) is a flexible control framework that can reason about non-smooth dynamics and cost functions. Recently, significant work has focused on the use of machine learning to improve the performance of…

Leveraging human preferences for steering the behavior of Large Language Models (LLMs) has demonstrated notable success in recent years. Nonetheless, data selection and labeling are still a bottleneck for these systems, particularly at…

Human drivers exhibit individual preferences regarding driving style. Adapting autonomous vehicles to these preferences is essential for user trust and satisfaction. However, existing end-to-end driving approaches often rely on predefined…

The potential of reinforcement learning (RL) to deliver aligned and performant agents is partially bottlenecked by the reward engineering problem. One alternative to heuristic trial-and-error is preference-based RL (PbRL), where a reward…

Model Predictive Control (MPC) is a powerful control strategy widely utilized in domains like energy management, building control, and autonomous systems. However, its effectiveness in real-world settings is challenged by the need to…

Reinforcement Learning from Human Feedback (RLHF) has emerged as a powerful approach for aligning generative models, but its reliance on learned reward models makes it vulnerable to mis-specification and reward hacking. Preference-based…

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…

This paper deals with optimal policy learning (OPL) with observational data, i.e. data-driven optimal decision-making, in multi-action (or multi-arm) settings, where a finite set of decision options is available. It is organized in three…

Effective learning of user preferences is critical to easing user burden in various types of matching problems. Equally important is active query selection to further reduce the amount of preference information users must provide. We…

Black-box optimization refers to the optimization problem whose objective function and/or constraint sets are either unknown, inaccessible, or non-existent. In many applications, especially with the involvement of humans, the only way to…

The application of supervised learning techniques in combination with model predictive control (MPC) has recently generated significant interest, particularly in the area of approximate explicit MPC, where function approximators like deep…

Active learning is a practical field of machine learning that automates the process of selecting which data to label. Current methods are effective in reducing the burden of data labeling but are heavily model-reliant. This has led to the…

The unaffordable computation load of nonlinear model predictive control (NMPC) has prevented it for being used in robots with high sampling rates for decades. This paper is concerned with the policy learning problem for nonlinear MPC with…