5 papers
CRAFT: Coaching Reinforcement Learning Autonomously using Foundation Models for Multi-Robot Coordination Tasks
Seoyeon Choi, Kanghyun Ryu, Jonghoon Ock +1
Multi-Agent Reinforcement Learning (MARL) provides a powerful framework for learning coordination in multi-agent systems. However, applying MARL to robotics remains challenging due…
Learning Control Policies to Provably Satisfy Hard Affine Constraints for Black-Box Hybrid Dynamical Systems
Aayushi Shrivastava, Kartik Nagpal, Sairam Jinkala +2
Ensuring safety for black-box hybrid dynamical systems presents significant challenges due to their instantaneous state jumps and unknown explicit nonlinear dynamics. Existing solu…
DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories
Jean-Baptiste Bouvier, Kanghyun Ryu, Kartik Nagpal +3
Diffusion models excel at creating images and videos thanks to their multimodal generative capabilities. These same capabilities have made diffusion models increasingly popular in…
CurricuLLM: Automatic Task Curricula Design for Learning Complex Robot Skills using Large Language Models
Kanghyun Ryu, Qiayuan Liao, Zhongyu Li +3
Curriculum learning is a training mechanism in reinforcement learning (RL) that facilitates the achievement of complex policies by progressively increasing the task difficulty duri…
Risk-Sensitive Orbital Debris Collision Avoidance using Distributionally Robust Chance Constraints
Kanghyun Ryu, Jean-Baptiste Bouvier, Shazaib Lalani +2
The exponential increase in orbital debris and active satellites will lead to congested orbits, necessitating more frequent collision avoidance maneuvers by satellites. To minimize…