3 papers
cs.RO2026
Effective Reinforcement Learning Control using Conservative Soft Actor-Critic
Zhiwei Shang, Xinyi Yuan, Wenjun Huang +3
Reinforcement Learning (RL) has shown great potential in complex control tasks, particularly when combined with deep neural networks within the Actor-Critic (AC) framework. However…
cs.RO2025
Dynamic High-Order Control Barrier Functions with Diffuser for Safety-Critical Trajectory Planning at Signal-Free Intersections
Di Chen, Ruiguo Zhong, Kehua Chen +3
Planning safe and efficient trajectories through signal-free intersections presents significant challenges for autonomous vehicles (AVs), particularly in dynamic, multi-task enviro…
cs.RO2025
Preference Aligned Diffusion Planner for Quadrupedal Locomotion Control
Xinyi Yuan, Zhiwei Shang, Zifan Wang +7
Diffusion models demonstrate superior performance in capturing complex distributions from large-scale datasets, providing a promising solution for quadrupedal locomotion control. H…