14 citations · 26 across the 8 of their papers we have counts for
10 papers · 1 filter
Invariant extended Kalman filter on matrix Lie groups
Karmvir Singh Phogat, Dong Eui Chang
We derive symmetry preserving invariant extended Kalman filters (IEKF) on matrix Lie groups. These Kalman filters have an advantage over conventional extended Kalman filters as the…
Model Predictive Tracking Control for Invariant Systems on Matrix Lie Groups via Stable Embedding into Euclidean Spaces
Dong Eui Chang, Karmvir Singh Phogat, Jongeun Choi
For controller design for systems on manifolds embedded in Euclidean space, it is convenient to utilize a theory that requires a single global coordinate system on the ambient Eucl…
Design of Globally Exponentially Convergent Continuous Observers for Velocity Bias and State for Systems on Real Matrix Groups
Dong Eui Chang
We propose globally exponentially convergent continuous observers for invariant kinematic systems on finite-dimensional matrix Lie groups. Such an observer estimates, from measurem…
Improved Reinforcement Learning through Imitation Learning Pretraining Towards Image-based Autonomous Driving
Tianqi Wang, Dong Eui Chang
We present a training pipeline for the autonomous driving task given the current camera image and vehicle speed as the input to produce the throttle, brake, and steering control ou…
A Dual Memory Structure for Efficient Use of Replay Memory in Deep Reinforcement Learning
Wonshick Ko, Dong Eui Chang
In this paper, we propose a dual memory structure for reinforcement learning algorithms with replay memory. The dual memory consists of a main memory that stores various data and a…
Deep Reinforcement Learning Based Robot Arm Manipulation with Efficient Training Data through Simulation
Xiaowei Xing, Dong Eui Chang
Deep reinforcement learning trains neural networks using experiences sampled from the replay buffer, which is commonly updated at each time step. In this paper, we propose a method…