2 papers
cs.RO2024
Q-learning-based Model-free Safety Filter
Guo Ning Sue, Yogita Choudhary, Richard Desatnik +3
Ensuring safety via safety filters in real-world robotics presents significant challenges, particularly when the system dynamics is complex or unavailable. To handle this issue, le…
cs.RO2024
Self-Supervised Meta-Learning for All-Layer DNN-Based Adaptive Control with Stability Guarantees
Guanqi He, Yogita Choudhary, Guanya Shi
A critical goal of adaptive control is enabling robots to rapidly adapt in dynamic environments. Recent studies have developed a meta-learning-based adaptive control scheme, which…