7 papers
Safety Guarantees in Zero-Shot Reinforcement Learning for Cascade Dynamical Systems
Shima Rabiei, Sandipan Mishra, Santiago Paternain
This paper considers the problem of zero-shot safety guarantees for cascade dynamical systems. These are systems where a subset of the states (the inner states) affects the dynamic…
A Bi-Level Optimization Method for Redundant Dual-Arm Minimum Time Problems
Jonathan Fried, Santiago Paternain
In this work, we present a method for minimizing the time required for a redundant dual-arm robot to follow a desired relative Cartesian path at constant path speed by optimizing i…
Autonomous helicopter aerial refueling: controller design and performance guarantees
Damsara Jayarathne, Santiago Paternain, Sandipan Mishra
In this paper, we present a control design methodology, stability criteria, and performance bounds for autonomous helicopter aerial refueling. Autonomous aerial refueling is partic…
A Tensor Low-Rank Approximation for Value Functions in Multi-Task Reinforcement Learning
Sergio Rozada, Santiago Paternain, Juan Andres Bazerque +1
In pursuit of reinforcement learning systems that could train in physical environments, we investigate multi-task approaches as a means to alleviate the need for massive data acqui…
A Bi-Level Optimization Approach to Joint Trajectory Optimization for Redundant Manipulators
Jonathan Fried, Santiago Paternain
In this work, we present an approach to minimizing the time necessary for the end-effector of a redundant robot manipulator to traverse a Cartesian path by optimizing the trajector…
Transfer Learning for a Class of Cascade Dynamical Systems
Shima Rabiei, Sandipan Mishra, Santiago Paternain
This work considers the problem of transfer learning in the context of reinforcement learning. Specifically, we consider training a policy in a reduced order system and deploying i…