30 citations · 30 across the 2 of their papers we have counts for
4 papers
AirBender: Adaptive Transportation of Bendable Objects Using Dual UAVs
Jiawei Xu, Longsen Gao, Rafael Fierro +1
The interaction of robots with bendable objects in midair presents significant challenges in control, often resulting in performance degradation and potential crashes, especially f…
Deep Reinforcement Learning for Robotic Manipulation under Distribution Shift with Bounded Extremum Seeking
Shaifalee Saxena, Rafael Fierro, Alexander Scheinker
Reinforcement learning has shown strong performance in robotic manipulation, but learned policies often degrade in performance when test conditions differ from the training distrib…
Improved Robustness of Deep Reinforcement Learning for Control of Time-Varying Systems by Bounded Extremum Seeking
Shaifalee Saxena, Alan Williams, Rafael Fierro +1
In this paper, we study the use of robust model independent bounded extremum seeking (ES) feedback control to improve the robustness of deep reinforcement learning (DRL) controller…
Safe On-Orbit Dislodging of Deployable Structures via Robust Adaptive MPC
Longsen Gao, Claus Danielson, Andrew Kwas +1
This paper proposes a novel robust adaptive model predictive controller for on-orbit dislodging. We study orbit dislodging where a servicing spacecraft uses a robotic arm to free a…