7 papers
Learning While Deploying: Fleet-Scale Reinforcement Learning for Generalist Robot Policies
Yi Wang, Xinchen Li, Pengwei Xie +13
Generalist robot policies increasingly benefit from large-scale pretraining, but offline data alone is insufficient for robust real-world deployment. Deployed robots encounter dist…
Optimal Unpredictable Control for Linear Systems
Chendi Qu, Jianping He, Jialun Li +1
In this paper, we investigate how to achieve the unpredictability against malicious inferences for linear systems. The key idea is to add stochastic control inputs, named as unpred…
IDEAL: Data Equilibrium Adaptation for Multi-Capability Language Model Alignment
Chenlin Ming, Chendi Qu, Mengzhang Cai +6
Large Language Models (LLMs) have achieved impressive performance through Supervised Fine-tuning (SFT) on diverse instructional datasets. When training on multiple capabilities sim…
3DIOC: Direct Data-Driven Inverse Optimal Control for LTI Systems
Chendi Qu, Jianping He, Xiaoming Duan
This paper addresses the Direct Data-Driven Inverse Optimal Control (3DIOC) problem for linear time-invariant (LTI) systems under the linear quadratic (LQ) control. Unlike traditio…
Observation-based Optimal Control Law Learning with LQR Reconstruction
Chendi Qu, Jianping He, Xiaoming Duan
Designing controllers to generate various trajectories has been studied for years, while recently, recovering an optimal controller from trajectories receives increasing attention.…
Model Selection for Inverse Reinforcement Learning via Structural Risk Minimization
Chendi Qu, Jianping He, Xiaoming Duan +1
Inverse reinforcement learning (IRL) usually assumes the reward function model is pre-specified as a weighted sum of features and estimates the weighting parameters only. However,…
Control Input Inference of Mobile Agents under Unknown Objective
Chendi Qu, Jianping He, Xiaoming Duan +1
Trajectory and control secrecy is an important issue in robotics security. This paper proposes a novel algorithm for the control input inference of a mobile agent without knowing i…