4 papers
Hybrid Energy-Aware Reward Shaping: A Unified Lightweight Physics-Guided Methodology for Policy Optimization
Qijun Liao, Jue Yang, Yiting Kang +3
Deep reinforcement learning for continuous control often suffers from high variance, low energy efficiency, and poor generalization under distribution shift, as purely data-driven…
Constraint-Enhanced Reinforcement Learning Based on Dynamic Decoupled Spherical Radial Squashing
Qijun Liao, Zhaoxin Yu, Jue Yang
When deploying reinforcement learning policies to physical robots, actuator rate constraints -- hard limits on how fast each joint can move per control step -- are unavoidable. The…
Wheel Dynamic Load Estimation Method Based on Gas Pressure of Hydro-pneumatic Suspension
Qijun Liao, Jue Yang, Subhash Rakheja +3
This paper proposes a novel method to estimate the wheel dynamic load based on the gas pressure of a hydro-pneumatic suspension. A nonlinear coupled model between suspension chambe…
Response-Aware Risk-Constrained Control Barrier Function With Application to Vehicles
Qijun Liao, Jue Yang
This paper proposes a unified control framework based on Response-Aware Risk-Constrained Control Barrier Function for dynamic safety boundary control of vehicles. Addressing the pr…