2 papers
cs.RO2024
A comparison of RL-based and PID controllers for 6-DOF swimming robots: hybrid underwater object tracking
Faraz Lotfi, Khalil Virji, Nicholas Dudek +1
In this paper, we present an exploration and assessment of employing a centralized deep Q-network (DQN) controller as a substitute for the prevalent use of PID controllers in the c…
cs.RO2023
Uncertainty-aware hybrid paradigm of nonlinear MPC and model-based RL for offroad navigation: Exploration of transformers in the predictive model
Faraz Lotfi, Khalil Virji, Farnoosh Faraji +4
In this paper, we investigate a hybrid scheme that combines nonlinear model predictive control (MPC) and model-based reinforcement learning (RL) for navigation planning of an auton…