相关论文: Neuro-Inspired Inverse Learning for Planning and C…

Inference in both brains and machines can be formalized by optimizing a shared objective: maximizing the evidence lower bound (ELBO) in machine learning, or minimizing variational free energy (F) in neuroscience (ELBO = -F). While this…

This paper presents a data-driven optimal control policy for a micro flapping wing unmanned aerial vehicle. First, a set of optimal trajectories are computed off-line based on a geometric formulation of dynamics that captures the nonlinear…

In this paper, we introduce the first learning-based planner to drive a car in dense, urban traffic using Inverse Reinforcement Learning (IRL). Our planner, DriveIRL, generates a diverse set of trajectory proposals, filters these…

Learning from demonstrations has made great progress over the past few years. However, it is generally data hungry and task specific. In other words, it requires a large amount of data to train a decent model on a particular task, and the…

We focus on the problem of learning a single motor module that can flexibly express a range of behaviors for the control of high-dimensional physically simulated humanoids. To do this, we propose a motor architecture that has the general…

Robots executing iterative tasks in complex, uncertain environments require control strategies that balance robustness, safety, and high performance. This paper introduces a safe information-theoretic learning model predictive control…

Complex behaviors are often driven by an internal model, which integrates sensory information over time and facilitates long-term planning. Inferring an agent's internal model is a crucial ingredient in social interactions (theory of mind),…

Modeling and control of nonlinear dynamics are critical in robotics, especially in scenarios with unpredictable external influences and complex dynamics. Traditional cascaded modular control pipelines often yield suboptimal performance due…

Vision-Language-Action (VLA) models have demonstrated potential in autonomous driving. However, two critical challenges hinder their development: (1) Existing VLA architectures are typically based on imitation learning in open-loop setup…

Deep learning is a promising, ultra-fast approach for inverse design in nano-optics, but despite fast advancement of the field, the computational cost of dataset generation, as well as of the training procedure itself remains a major…

Effective urban planning is crucial for enhancing residents' quality of life and ensuring societal stability, playing a pivotal role in the sustainable development of cities. Current planning methods heavily rely on human experts, which are…

Many imitation learning (IL) algorithms employ inverse reinforcement learning (IRL) to infer the intrinsic reward function that an expert is implicitly optimizing for based on their demonstrated behaviors. However, in practice, IRL-based IL…

Imitation Learning (IL) has proven highly effective for robotic and control tasks where manually designing reward functions or explicit controllers is infeasible. However, standard IL methods implicitly assume that the environment dynamics…

Recent progress in imitation learning has been enabled by policy architectures that scale to complex visuomotor tasks, multimodal distributions, and large datasets. However, these methods often rely on learning from large amount of expert…

Robust and adaptive control strategies are needed when robots or automated systems are introduced to unknown and dynamic environments where they are required to cope with disturbances, unmodeled dynamics, and parametric uncertainties. In…

Inverse reinforcement learning (IRL) and dynamic discrete choice (DDC) models explain sequential decision-making by recovering reward functions that rationalize observed behavior. Flexible IRL methods typically rely on machine learning but…

This paper is a study of reinforcement learning (RL) as an optimal-control strategy for control of nonlinear valves. It is evaluated against the PID (proportional-integral-derivative) strategy, using a unified framework. RL is an autonomous…

It can be difficult to autonomously produce driver behavior so that it appears natural to other traffic participants. Through Inverse Reinforcement Learning (IRL), we can automate this process by learning the underlying reward function from…

Traditional indoor robot navigation methods provide a reliable solution when adapted to constrained scenarios, but lack flexibility or require manual re-tuning when deployed in more complex settings. In contrast, learning-based approaches…

Decision analysis deals with modeling and enhancing decision processes. A principal challenge in improving behavior is in obtaining a transparent description of existing behavior in the first place. In this paper, we develop an expressive,…