Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems

4 March 2019

Papers citing "Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems"

21 / 21 papers shown

Title
Learning to Refine Input Constrained Control Barrier Functions via Uncertainty-Aware Online Parameter Adaptation Taekyung Kim Robin Inho Kee Dimitra Panagou 91 8 0 22 Sep 2024
End-to-End Safe Reinforcement Learning through Barrier Functions for Safety-Critical Continuous Control Tasks Richard Cheng G. Orosz R. Murray J. W. Burdick 79 623 0 21 Mar 2019
A Control Lyapunov Perspective on Episodic Learning via Projection to State Stability Andrew J. Taylor Victor D. Dorobantu M. Krishnamoorthy Hoang Minh Le Yisong Yue Aaron D. Ames 27 13 0 18 Mar 2019
Neural Lander: Stable Drone Landing Control using Learned Dynamics Guanya Shi Xichen Shi Michael O'Connell Rose Yu Kamyar Azizzadenesheli Anima Anandkumar Yisong Yue Soon-Jo Chung 103 275 0 19 Nov 2018
The Lyapunov Neural Network: Adaptive Stability Certification for Safe Learning of Dynamical Systems Spencer M. Richards Felix Berkenkamp Andreas Krause 51 229 0 02 Aug 2018
Stable Gaussian Process based Tracking Control of Euler-Lagrange Systems Thomas Beckers Dana Kulić Sandra Hirche 64 126 0 19 Jun 2018
Accelerating Imitation Learning with Predictive Models Ching-An Cheng Xinyan Yan Evangelos A. Theodorou Byron Boots 79 21 0 12 Jun 2018
A Lyapunov-based Approach to Safe Reinforcement Learning Yinlam Chow Ofir Nachum Edgar A. Duénez-Guzmán Mohammad Ghavamzadeh 163 507 0 20 May 2018
Sim-to-Real: Learning Agile Locomotion For Quadruped Robots Jie Tan Tingnan Zhang Erwin Coumans Atil Iscen Yunfei Bai Danijar Hafner Steven Bohez Vincent Vanhoucke 94 807 0 27 Apr 2018
Safe Learning of Quadrotor Dynamics Using Barrier Certificates Li Wang Evangelos A. Theodorou M. Egerstedt 42 192 0 16 Oct 2017
Proximal Policy Optimization Algorithms John Schulman Filip Wolski Prafulla Dhariwal Alec Radford Oleg Klimov OffRL 526 19,237 0 20 Jul 2017
Safe Model-based Reinforcement Learning with Stability Guarantees Felix Berkenkamp M. Turchetta Angela P. Schoellig Andreas Krause 176 853 0 23 May 2017
A General Safety Framework for Learning-Based Control in Uncertain Robotic Systems J. F. Fisac Anayo K. Akametalu Melanie Zeilinger Shahab Kaynama J. Gillula Claire Tomlin 61 498 0 03 May 2017
Deeply AggreVaTeD: Differentiable Imitation Learning for Sequential Prediction Wen Sun Arun Venkatraman Geoffrey J. Gordon Byron Boots J. Andrew Bagnell 132 235 0 03 Mar 2017
Smooth Imitation Learning for Online Sequence Prediction Hoang Minh Le Andrew Kang Yisong Yue Peter Carr 68 35 0 03 Jun 2016
Benchmarking Deep Reinforcement Learning for Continuous Control Yan Duan Xi Chen Rein Houthooft John Schulman Pieter Abbeel OffRL 84 1,695 0 22 Apr 2016
Continuous control with deep reinforcement learning Timothy Lillicrap Jonathan J. Hunt Alexander Pritzel N. Heess Tom Erez Yuval Tassa David Silver Daan Wierstra 323 13,272 0 09 Sep 2015
Safe Controller Optimization for Quadrotors with Gaussian Processes Felix Berkenkamp Angela P. Schoellig Andreas Krause 67 301 0 03 Sep 2015
Torque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based Quadratic Programs Kevin S. Galloway Koushil Sreenath Aaron D. Ames J. Grizzle 60 165 0 28 Feb 2013
A Reduction of Imitation Learning and Structured Prediction to No-Regret Online Learning Stéphane Ross Geoffrey J. Gordon J. Andrew Bagnell OffRL 231 3,232 0 02 Nov 2010
Search-based Structured Prediction Hal Daumé John Langford Daniel Marcu GNN 138 586 0 04 Jul 2009