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07/16/2023
Feedback is All You Need: Real-World Reinforcement Learning with Approximate Physics-Based Models
We focus on developing efficient and reliable policy optimization strate...
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05/16/2023
The Power of Learned Locally Linear Models for Nonlinear Policy Optimization
A common pipeline in learning-based control is to iteratively estimate a...
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08/13/2022
Lyapunov Design for Robust and Efficient Robotic Reinforcement Learning
Recent advances in the reinforcement learning (RL) literature have enabl...
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03/27/2021
On the Stability of Nonlinear Receding Horizon Control: A Geometric Perspective
The widespread adoption of nonlinear Receding Horizon Control (RHC) stra...
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04/15/2020
Improving Input-Output Linearizing Controllers for Bipedal Robots via Reinforcement Learning
The main drawbacks of input-output linearizing controllers are the need ...
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04/06/2020
Technical Report: Adaptive Control for Linearizable Systems Using On-Policy Reinforcement Learning
This paper proposes a framework for adaptively learning a feedback linea...
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10/29/2019
Feedback Linearization for Unknown Systems via Reinforcement Learning
We present a novel approach to control design for nonlinear systems, whi...
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04/29/2019