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11/30/2022
Safe Model-Free Reinforcement Learning using Disturbance-Observer-Based Control Barrier Functions
Safe reinforcement learning (RL) with assured satisfaction of hard state...
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12/15/2021
Guaranteed Contraction Control in the Presence of Imperfectly Learned Dynamics
This paper presents an approach for trajectory-centric learning control ...
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06/04/2021
Robustifying Reinforcement Learning Policies with ℒ_1 Adaptive Control
A reinforcement learning (RL) policy trained in a nominal environment co...
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05/15/2020