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Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models

Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models

Zhongyu Li
Jun Zeng
A. Thirugnanam
Koushil Sreenath
ArXiv (abs)PDFHTML

Papers citing "Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models"

7 / 7 papers shown
Title
Learning-based Trajectory Tracking for Bird-inspired Flapping-Wing Robots
Learning-based Trajectory Tracking for Bird-inspired Flapping-Wing Robots
Jiaze Cai
Vishnu Sangli
Mintae Kim
Koushil Sreenath
131
0
0
22 Nov 2024
Learning Koopman Dynamics for Safe Legged Locomotion with Reinforcement Learning-based Controller
Learning Koopman Dynamics for Safe Legged Locomotion with Reinforcement Learning-based Controller
Jeonghwan Kim
Yunhai Han
Harish Ravichandar
Sehoon Ha
94
2
0
23 Sep 2024
Safety-Critical Planning and Control for Dynamic Obstacle Avoidance Using Control Barrier Functions
Safety-Critical Planning and Control for Dynamic Obstacle Avoidance Using Control Barrier Functions
Shuo Liu
Yihui Mao
Calin A. Belta
100
8
0
28 Mar 2024
DexDribbler: Learning Dexterous Soccer Manipulation via Dynamic Supervision
DexDribbler: Learning Dexterous Soccer Manipulation via Dynamic Supervision
Yutong Hu
Kehan Wen
Fisher Yu
120
3
0
21 Mar 2024
Decomposing Control Lyapunov Functions for Efficient Reinforcement Learning
Decomposing Control Lyapunov Functions for Efficient Reinforcement Learning
Antonio Lopez
David Fridovich-Keil
87
1
0
18 Mar 2024
Walking in Narrow Spaces: Safety-critical Locomotion Control for Quadrupedal Robots with Duality-based Optimization
Walking in Narrow Spaces: Safety-critical Locomotion Control for Quadrupedal Robots with Duality-based Optimization
Qiayuan Liao
Zhongyu Li
A. Thirugnanam
Jun Zeng
Koushil Sreenath
117
19
0
29 Dec 2022
Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions
Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions
Shuo Liu
Jun Zeng
Koushil Sreenath
C. Belta
156
21
0
09 Oct 2022

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