6 papers
D-SafeMPC: Diffusion-Driven Safe Model Predictive Control with Discrete-Time Control Barrier Functions
Erdi Sayar, Ersin Daş, Joel W. Burdick +2
A key limitation on the use of diffusion models in robotic planning is their inability to inherently enforce safety or dynamical constraints, which often results in physically infe…
Exp2VLA: Enabling Vision-Language-Action for Drone Navigation from Expert Demonstrations
Van Huyen Dang, Kabilesh Rajendran, Erdi Sayar +1
Vision-language-action (VLA) models open a new path toward intuitive robot control by directly linking perception, language, and action in a single end-to-end framework. Yet for UA…
Fuzzy Logic Theory-based Adaptive Reward Shaping for Robust Reinforcement Learning (FARS)
Hürkan Şahin, Van Huyen Dang, Erdi Sayar +2
Reinforcement learning (RL) often struggles in real-world tasks with high-dimensional state spaces and long horizons, where sparse or fixed rewards severely slow down exploration a…
Estimation of Regions of Attraction for Nonlinear Systems via Coordinate-Transformed TS Models
Artun Sel, Mehmet Koruturk, Erdi Sayar
This paper presents a novel method for estimating larger Region of Attractions (ROAs) for continuous-time nonlinear systems modeled via the Takagi-Sugeno (TS) framework. While clas…
Estimation of Regions of Attraction for Nonlinear Systems via Coordinate-Transformed TS Models and Piecewise Quadratic Lyapunov Functions
Artun Sel, Mehmet Koruturk, Erdi Sayar
This paper presents a novel approach for computing enlarged Region of Attractions (ROA) for nonlinear dynamical systems through the integration of multiple coordinate transformatio…
Contact Energy Based Hindsight Experience Prioritization
Erdi Sayar, Zhenshan Bing, Carlo D'Eramo +2
Multi-goal robot manipulation tasks with sparse rewards are difficult for reinforcement learning (RL) algorithms due to the inefficiency in collecting successful experiences. Recen…