2 papers
cs.RO2025
Neural Lyapunov Function Approximation with Self-Supervised Reinforcement Learning
Luc McCutcheon, Bahman Gharesifard, Saber Fallah
Control Lyapunov functions are traditionally used to design a controller which ensures convergence to a desired state, yet deriving these functions for nonlinear systems remains a…
cs.AI2023
Adaptive PD Control using Deep Reinforcement Learning for Local-Remote Teleoperation with Stochastic Time Delays
Luc McCutcheon, Saber Fallah
Local-remote systems allow robots to execute complex tasks in hazardous environments such as space and nuclear power stations. However, establishing accurate positional mapping bet…