3 papers
cs.RO2026
Learning from Demonstration via Spatiotemporal Tubes for Unknown Euler-Lagrange Systems
Ratnangshu Das, Puneeth Shankar, Varuni Buereddy +2
We present STT-LfD, a unified Learning from Demonstration (LfD) framework that integrates motion learning with control for unknown Euler-Lagrange systems. Unlike traditional decoup…
math.OC2025
Closed Form HJB Solution for Continuous-Time Optimal Control of a Non-Linear Input-Affine System
Akash Vyas, Shreyas Kumar, Jayant Kumar Mohanta +1
Designing optimal controllers for nonlinear dynamical systems often relies on reinforcement learning and adaptive dynamic programming (ADP) to approximate solutions of the Hamilton…
cs.RO2025
Safe and Optimal Variable Impedance Control via Certified Reinforcement Learning
Shreyas Kumar, Ravi Prakash
Reinforcement learning (RL) offers a powerful approach for robots to learn complex, collaborative skills by combining Dynamic Movement Primitives (DMPs) for motion and Variable Imp…