187 citations · 464 across the 21 of their papers we have counts for
21 papers
Reinforcement Learning for Safe Robot Control using Control Lyapunov Barrier Functions
Desong Du, Shaohang Han, Naiming Qi +3
Reinforcement learning (RL) exhibits impressive performance when managing complicated control tasks for robots. However, its wide application to physical robots is limited by the a…
Sim-and-Real Reinforcement Learning for Manipulation: A Consensus-based Approach
Wenxing Liu, Hanlin Niu, Wei Pan +2
Sim-and-real training is a promising alternative to sim-to-real training for robot manipulations. However, the current sim-and-real training is neither efficient, i.e., slow conver…
Deep Koopman Learning of Nonlinear Time-Varying Systems
Wenjian Hao, Bowen Huang, Wei Pan +2
This paper presents a data-driven approach to approximate the dynamics of a nonlinear time-varying system (NTVS) by a linear time-varying system (LTVS), which is resulted from the…
Model-Based Safe Reinforcement Learning with Time-Varying State and Control Constraints: An Application to Intelligent Vehicles
Xinglong Zhang, Yaoqian Peng, Biao Luo +3
Recently, safe reinforcement learning (RL) with the actor-critic structure for continuous control tasks has received increasing attention. It is still challenging to learn a near-o…
Robust Tube-based Model Predictive Control with Koopman Operators--Extended Version
Xinglong Zhang, Wei Pan, Riccardo Scattolini +2
Koopman operators are of infinite dimension and capture the characteristics of nonlinear dynamics in a lifted global linear manner. The finite data-driven approximation of Koopman…
Reinforcement Learning Compensated Extended Kalman Filter for Attitude Estimation
Yujie Tang, Liang Hu, Qingrui Zhang +1
Inertial measurement units are widely used in different fields to estimate the attitude. Many algorithms have been proposed to improve estimation performance. However, most of them…