3 papers
cs.LG2023
Stable Modular Control via Contraction Theory for Reinforcement Learning
Bing Song, Jean-Jacques Slotine, Quang-Cuong Pham
We propose a novel way to integrate control techniques with reinforcement learning (RL) for stability, robustness, and generalization: leveraging contraction theory to realize modu…
cs.RO2022
Example When Local Optimal Policies Contain Unstable Control
Bing Song, Jean-Jacques Slotine, Quang-Cuong Pham
We provide a new perspective to understand why reinforcement learning (RL) struggles with robustness and generalization. We show, by examples, that local optimal policies may conta…
cs.RO2019
Automatic Snake Gait Generation Using Model Predictive Control
Emily Hannigan, Bing Song, Gagan Khandate +3
In this paper, we propose a method for generating undulatory gaits for snake robots. Instead of starting from a pre-defined movement pattern such as a serpenoid curve, we use a Mod…