4 papers
Contextual Neural Moving Horizon Estimation for Robust Quadrotor Control in Varying Conditions
Kasra Torshizi, Chak Lam Shek, Khuzema Habib +3
Adaptive controllers on quadrotors typically rely on estimation of disturbances to ensure robust trajectory tracking. Estimating disturbances across diverse environmental contexts…
Learning Multi-Robot Coordination through Locality-Based Factorized Multi-Agent Actor-Critic Algorithm
Chak Lam Shek, Amrit Singh Bedi, Anjon Basak +5
In this work, we present a novel cooperative multi-agent reinforcement learning method called \textbf{Loc}ality based \textbf{Fac}torized \textbf{M}ulti-Agent \textbf{A}ctor-\textb…
Option Discovery Using LLM-guided Semantic Hierarchical Reinforcement Learning
Chak Lam Shek, Pratap Tokekar
Large Language Models (LLMs) have shown remarkable promise in reasoning and decision-making, yet their integration with Reinforcement Learning (RL) for complex robotic tasks remain…
When to Localize? A Risk-Constrained Reinforcement Learning Approach
Chak Lam Shek, Kasra Torshizi, Troi Williams +1
In a standard navigation pipeline, a robot localizes at every time step to lower navigational errors. However, in some scenarios, a robot needs to selectively localize when it is e…