4 papers
Multitask Reinforcement Learning for Quadcopter Attitude Stabilization and Tracking using Graph Policy
Yu Tang Liu, Afonso Vale, Aamir Ahmad +2
Quadcopter attitude control involves two tasks: smooth attitude tracking and aggressive stabilization from arbitrary states. Although both can be formulated as tracking problems, t…
Task and Domain Adaptive Reinforcement Learning for Robot Control
Yu Tang Liu, Nilaksh Singh, Aamir Ahmad
Deep reinforcement learning (DRL) has shown remarkable success in simulation domains, yet its application in designing robot controllers remains limited, due to its single-task ori…
Autonomous Blimp Control via H-infinity Robust Deep Residual Reinforcement Learning
Yang Zuo, Yu Tang Liu, Aamir Ahmad
Due to their superior energy efficiency, blimps may replace quadcopters for long-duration aerial tasks. However, designing a controller for blimps to handle complex dynamics, model…
Multi-Task Reinforcement Learning in Continuous Control with Successor Feature-Based Concurrent Composition
Yu Tang Liu, Aamir Ahmad
Deep reinforcement learning (DRL) frameworks are increasingly used to solve high-dimensional continuous control tasks in robotics. However, due to the lack of sample efficiency, ap…