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cs.RO2023
Learning Stabilization Control from Observations by Learning Lyapunov-like Proxy Models
Milan Ganai, Chiaki Hirayama, Ya-Chien Chang +1
The deployment of Reinforcement Learning to robotics applications faces the difficulty of reward engineering. Therefore, approaches have focused on creating reward functions by Lea…
cs.RO2021★ 1 cited
Stabilizing Neural Control Using Self-Learned Almost Lyapunov Critics
Ya-Chien Chang, Sicun Gao
The lack of stability guarantee restricts the practical use of learning-based methods in core control problems in robotics. We develop new methods for learning neural control polic…