4 citations · 5 across the 8 of their papers we have counts for
8 papers
Safe Online Learning via Smooth Safety-Structured Policy Composition
Hongpeng Cao, Liqun Zhao, Yuliang Gu +3
Safe online reinforcement learning requires policies to respect safety constraints while maintaining smooth optimization dynamics. Existing approaches typically rely on either stri…
Observations Meet Actions: Learning Control-Sufficient Representations for Robust Policy Generalization
Yuliang Gu, Hongpeng Cao, Marco Caccamo +1
Capturing latent variations ("contexts") is key to deploying reinforcement-learning (RL) agents beyond their training regime. We recast context-based RL as a dual inference-control…
Bregman Centroid Guided Cross-Entropy Method
Yuliang Gu, Hongpeng Cao, Marco Caccamo +1
The Cross-Entropy Method (CEM) is a widely adopted trajectory optimizer in model-based reinforcement learning (MBRL), but its unimodal sampling strategy often leads to premature co…
Task-Parameter Nexus: Task-Specific Parameter Learning for Model-Based Control
Sheng Cheng, Ran Tao, Yuliang Gu +3
This paper presents the Task-Parameter Nexus (TPN), a learning-based approach for online determination of the (near-)optimal control parameters of model-based controllers (MBCs) fo…
Real-Time Linear MPC for Quadrotors on SE(3): An Analytical Koopman-based Realization
Santosh M. Rajkumar, Chengyu Yang, Yuliang Gu +3
This letter presents an analytical linear parameter-varying (LPV) representation of quadrotor dynamics utilizing Koopman theory, facilitating computationally efficient linear model…
Proto-MPC: An Encoder-Prototype-Decoder Approach for Quadrotor Control in Challenging Winds
Yuliang Gu, Sheng Cheng, Naira Hovakimyan
Quadrotors are increasingly used in the evolving field of aerial robotics for their agility and mechanical simplicity. However, inherent uncertainties, such as aerodynamic effects…
Synergistic Perception and Control Simplex for Verifiable Safe Vertical Landing
Ayoosh Bansal, Yang Zhao, James Zhu +6
Perception, Planning, and Control form the essential components of autonomy in advanced air mobility. This work advances the holistic integration of these components to enhance the…
Multi-population opinion dynamics model
Tigran Bakaryan, Yuliang Gu, Naira Hovakimyan +2
We introduce multi-population opinion dynamics models linked to the bounded confidence model, aiming to explore how interactions between individuals contribute to the emergence of…