8 citations · 13 across the 7 of their papers we have counts for
7 papers
Velocity Regulation of 3D Bipedal Walking Robots with Uncertain Dynamics Through Adaptive Neural Network Controller
Guillermo A. Castillo, Bowen Weng, Terrence C. Stewart +2
This paper presents a neural-network based adaptive feedback control structure to regulate the velocity of 3D bipedal robots under dynamics uncertainties. Existing Hybrid Zero Dyna…
Momentum Q-learning with Finite-Sample Convergence Guarantee
Bowen Weng, Huaqing Xiong, Lin Zhao +2
Existing studies indicate that momentum ideas in conventional optimization can be used to improve the performance of Q-learning algorithms. However, the finite-sample analysis for…
Model Predictive Instantaneous Safety Metric for Evaluation of Automated Driving Systems
Bowen Weng, Sughosh J. Rao, Eeshan Deosthale +2
Vehicles with Automated Driving Systems (ADS) operate in a high-dimensional continuous system with multi-agent interactions. This continuous system features various types of traffi…
Momentum-based Accelerated Q-learning
Bowen Weng, Lin Zhao, Huaqing Xiong +1
This paper studies accelerated algorithms for Q-learning. We propose an acceleration scheme by incorporating the historical iterates of the Q-function. The idea is conceptually ins…
Hybrid Zero Dynamics Inspired Feedback Control Policy Design for 3D Bipedal Locomotion using Reinforcement Learning
Guillermo A. Castillo, Bowen Weng, Wei Zhang +1
This paper presents a novel model-free reinforcement learning (RL) framework to design feedback control policies for 3D bipedal walking. Existing RL algorithms are often trained in…
Reciprocal Collision Avoidance for General Nonlinear Agents using Reinforcement Learning
Hao Li, Bowen Weng, Abhishek Gupta +2
Finding feasible and collision-free paths for multiple nonlinear agents is challenging in the decentralized scenarios due to limited available information of other agents and compl…