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cs.RO2024
Continual Learning and Lifting of Koopman Dynamics for Linear Control of Legged Robots
Feihan Li, Abulikemu Abuduweili, Yifan Sun +3
The control of legged robots, particularly humanoid and quadruped robots, presents significant challenges due to their high-dimensional and nonlinear dynamics. While linear systems…
cs.LG2024
Absolute State-wise Constrained Policy Optimization: High-Probability State-wise Constraints Satisfaction
Weiye Zhao, Feihan Li, Yifan Sun +4
Enforcing state-wise safety constraints is critical for the application of reinforcement learning (RL) in real-world problems, such as autonomous driving and robot manipulation. Ho…
cs.RO2024
Implicit Safe Set Algorithm for Provably Safe Reinforcement Learning
Weiye Zhao, Feihan Li, Changliu Liu
Deep reinforcement learning (DRL) has demonstrated remarkable performance in many continuous control tasks. However, a significant obstacle to the real-world application of DRL is…