3 papers
cs.RO2025
Agile Mobility with Rapid Online Adaptation via Meta-learning and Uncertainty-aware MPPI
Dvij Kalaria, Haoru Xue, Wenli Xiao +3
Modern non-linear model-based controllers require an accurate physics model and model parameters to be able to control mobile robots at their limits. Also, due to surface slipping…
cs.RO2024
Q-learning-based Model-free Safety Filter
Guo Ning Sue, Yogita Choudhary, Richard Desatnik +3
Ensuring safety via safety filters in real-world robotics presents significant challenges, particularly when the system dynamics is complex or unavailable. To handle this issue, le…
cs.RO2024
Disturbance Observer-based Control Barrier Functions with Residual Model Learning for Safe Reinforcement Learning
Dvij Kalaria, Qin Lin, John M. Dolan
Reinforcement learning (RL) agents need to explore their environment to learn optimal behaviors and achieve maximum rewards. However, exploration can be risky when training RL dire…