4 papers
PAMD: Structured Adaptive Distances for Bisimulation Representations in Visual Reinforcement Learning
Daegyeong Roh, Juho Bae, Han-Lim Choi
Many visual reinforcement learning (RL) algorithms learn representations by matching latent distances to a behavioral distance induced by reward and transition similarity. In pract…
Fixed-Time State Transfer via Pontryagin Extremals
Juho Bae, Han-Lim Choi
This paper concerns the problem of fixed-time transition between two states of nonlinear systems (i.e., the point-to-point steering problem). We propose a formulation applicable to…
Feedback Integrators: Non-Asymptotic Invariance for One-Step Methods and Gain Selection under Euler Discretization
Juho Bae, Dong Eui Chang
For dynamical systems evolving on a manifold and admitting first integrals, standard one-step numerical methods generally cause the discrete trajectory to drift off the manifold an…
Learning Safety-Compatible Observers for Unknown Systems
Juho Bae, Daegyeong Roh, Han-Lim Choi
This paper presents a data-driven approach for jointly learning a robust full-state observer and its robustness certificate for systems with unknown dynamics. Leveraging incrementa…