Yikun Cheng

activity

20202026

most citedSafe and Efficient Reinforcement Learning Using Disturbance-Observer-Based Control Barrier Functions

5 citations · 7 across the 6 of their papers we have counts for

collaborators

Showing 2021Show all

2 papers · 1 filter

eess.SY2021★ 2 cited

Guaranteed Trajectory Tracking under Learned Dynamics with Contraction Metrics and Disturbance Estimation

Pan Zhao, Ziyao Guo, Yikun Cheng +3

This paper presents an approach to trajectory-centric learning control based on contraction metrics and disturbance estimation for nonlinear systems subject to matched uncertaintie…

cs.LG2021

Robustifying Reinforcement Learning Policies with $L_{1}$ Adaptive Control

Yikun Cheng, Pan Zhao, Manan Gandhi +3

A reinforcement learning (RL) policy trained in a nominal environment could fail in a new/perturbed environment due to the existence of dynamic variations. Existing robust methods…

Guaranteed Trajectory Tracking under Learned Dynamics with Contraction Metrics and Disturbance Estimation

Robustifying Reinforcement Learning Policies with L1​ Adaptive Control

Robustifying Reinforcement Learning Policies with $L_{1}$ Adaptive Control