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Actor-Critic Reinforcement Learning for Control with Stability Guarantee
v1v2v3 (latest)

Actor-Critic Reinforcement Learning for Control with Stability Guarantee

IEEE Robotics and Automation Letters (RA-L), 2020
29 April 2020
Minghao Han
Lixian Zhang
Jun Wang
Wei Pan
ArXiv (abs)PDFHTML

Papers citing "Actor-Critic Reinforcement Learning for Control with Stability Guarantee"

46 / 46 papers shown
SALSA-RL: Stability Analysis in the Latent Space of Actions for Reinforcement Learning
SALSA-RL: Stability Analysis in the Latent Space of Actions for Reinforcement Learning
Xuyang Li
Romit Maulik
FAtt
550
0
0
10 Apr 2026
A Novel Multi-Timescale Stability-Preserving Hierarchical Reinforcement Learning Controller Framework for Adaptive Control in High-Dimensional Dynamical Systems
A Novel Multi-Timescale Stability-Preserving Hierarchical Reinforcement Learning Controller Framework for Adaptive Control in High-Dimensional Dynamical Systems
Mohammad Ali Labbaf Khaniki
Fateme Taroodi
Benyamin Safizadeh
136
1
0
25 Oct 2025
Safe Reinforcement Learning-Based Vibration Control: Overcoming Training Risks with LQR Guidance
Safe Reinforcement Learning-Based Vibration Control: Overcoming Training Risks with LQR Guidance
Rohan Vitthal Thorat
Juhi Singh
Rajdip Nayek
OffRL
87
0
0
29 Sep 2025
A Fast Initialization Method for Neural Network Controllers: A Case Study of Image-based Visual Servoing Control for the multicopter Interception
A Fast Initialization Method for Neural Network Controllers: A Case Study of Image-based Visual Servoing Control for the multicopter Interception
Chenxu Ke
Congling Tian
Kaichen Xu
Ye Li
Lingcong Bao
106
0
0
23 Sep 2025
Off Policy Lyapunov Stability in Reinforcement Learning
Off Policy Lyapunov Stability in Reinforcement Learning
Sarvan Gill
Daniela Constantinescu
170
1
0
11 Sep 2025
Financial Decision Making using Reinforcement Learning with Dirichlet Priors and Quantum-Inspired Genetic Optimization
Financial Decision Making using Reinforcement Learning with Dirichlet Priors and Quantum-Inspired Genetic Optimization
Prasun Nandy
Debjit Dhar
Rik Das
105
0
0
27 Aug 2025
CiRL: Open-Source Environments for Reinforcement Learning in Circular Economy and Net Zero
CiRL: Open-Source Environments for Reinforcement Learning in Circular Economy and Net Zero
Federico Zocco
Andrea Corti
Monica Malvezzi
AI4CE
398
1
0
24 May 2025
Quadrupedal Robot Skateboard Mounting via Reverse Curriculum Learning
Quadrupedal Robot Skateboard Mounting via Reverse Curriculum Learning
Danil Belov
Artem Erkhov
Elizaveta Pestova
Ilya Osokin
Dzmitry Tsetserukou
Pavel Osinenko
305
1
0
10 May 2025
Learning Verifiable Control Policies Using Relaxed Verification
Learning Verifiable Control Policies Using Relaxed Verification
Puja Chaudhury
Alexander Estornell
Michael Everett
380
0
0
23 Apr 2025
Semi-Gradient SARSA Routing with Theoretical Guarantee on Traffic Stability and Weight Convergence
Semi-Gradient SARSA Routing with Theoretical Guarantee on Traffic Stability and Weight Convergence
Yidan Wu
Yu Yu
Jianan Zhang
Li Jin
257
0
0
19 Mar 2025
Neural Lyapunov Function Approximation with Self-Supervised Reinforcement Learning
Neural Lyapunov Function Approximation with Self-Supervised Reinforcement LearningIEEE International Conference on Robotics and Automation (ICRA), 2025
Luc McCutcheon
Bahman Gharesifard
Saber Fallah
299
1
0
19 Mar 2025
Transformer-Based Fault-Tolerant Control for Fixed-Wing UAVs Using Knowledge Distillation and In-Context Adaptation
Transformer-Based Fault-Tolerant Control for Fixed-Wing UAVs Using Knowledge Distillation and In-Context Adaptation
Francisco Giral
Ignacio Gómez
Ricardo Vinuesa
S. L. Clainche
536
3
0
05 Nov 2024
Autonomous Wheel Loader Navigation Using Goal-Conditioned Actor-Critic MPC
Autonomous Wheel Loader Navigation Using Goal-Conditioned Actor-Critic MPCIEEE International Conference on Robotics and Automation (ICRA), 2024
Aleksi Mäki-Penttilä
Naeim Ebrahimi Toulkani
Reza Ghabcheloo
536
1
0
24 Sep 2024
Critic as Lyapunov function (CALF): a model-free, stability-ensuring
  agent
Critic as Lyapunov function (CALF): a model-free, stability-ensuring agentIEEE Conference on Decision and Control (CDC), 2024
Pavel Osinenko
Grigory Yaremenko
Roman Zashchitin
Anton Bolychev
Sinan Ibrahim
D. Dobriborsci
322
8
0
15 Sep 2024
Stochastic Reinforcement Learning with Stability Guarantees for Control
  of Unknown Nonlinear Systems
Stochastic Reinforcement Learning with Stability Guarantees for Control of Unknown Nonlinear Systems
Thanin Quartz
Ruikun Zhou
H. Sterck
Jun Liu
175
2
0
12 Sep 2024
Stable and Safe Human-aligned Reinforcement Learning through Neural
  Ordinary Differential Equations
Stable and Safe Human-aligned Reinforcement Learning through Neural Ordinary Differential Equations
Liqun Zhao
Keyan Miao
Konstantinos Gatsis
A. Papachristodoulou
358
6
0
23 Jan 2024
Atlas: Hybrid Cloud Migration Advisor for Interactive Microservices
Atlas: Hybrid Cloud Migration Advisor for Interactive MicroservicesEuropean Conference on Computer Systems (EuroSys), 2023
Ka-Ho Chow
Umesh Deshpande
Veera Deenadayalan
S. Seshadri
Ling Liu
121
10
0
12 Nov 2023
Deep Bayesian Reinforcement Learning for Spacecraft Proximity Maneuvers
  and Docking
Deep Bayesian Reinforcement Learning for Spacecraft Proximity Maneuvers and Docking
Desong Du
Naiming Qi
Yanfang Liu
Wei Pan
293
0
0
07 Nov 2023
Stable Modular Control via Contraction Theory for Reinforcement Learning
Stable Modular Control via Contraction Theory for Reinforcement LearningConference on Learning for Dynamics & Control (L4DC), 2023
Bing Song
Jean-Jacques E. Slotine
Quang Pham
344
2
0
07 Nov 2023
Stabilizing reinforcement learning control: A modular framework for
  optimizing over all stable behavior
Stabilizing reinforcement learning control: A modular framework for optimizing over all stable behavior
Nathan P. Lawrence
Philip D. Loewen
Shuyuan Wang
M. Forbes
R. Bhushan Gopaluni
289
6
0
21 Oct 2023
SneakyPrompt: Jailbreaking Text-to-image Generative Models
SneakyPrompt: Jailbreaking Text-to-image Generative ModelsIEEE Symposium on Security and Privacy (IEEE S&P), 2023
Yuchen Yang
Bo Hui
Haolin Yuan
Neil Zhenqiang Gong
Yinzhi Cao
EGVM
741
181
0
20 May 2023
Reinforcement Learning for Safe Robot Control using Control Lyapunov
  Barrier Functions
Reinforcement Learning for Safe Robot Control using Control Lyapunov Barrier FunctionsIEEE International Conference on Robotics and Automation (ICRA), 2023
Desong Du
Shao-Fu Han
Naiming Qi
Haitham Bou-Ammar
Jun Wang
Wei Pan
280
28
0
16 May 2023
Neural Lyapunov Control for Discrete-Time Systems
Neural Lyapunov Control for Discrete-Time SystemsNeural Information Processing Systems (NeurIPS), 2023
Junlin Wu
Andrew Clark
Y. Kantaros
Yevgeniy Vorobeychik
402
45
0
11 May 2023
Stable and Safe Reinforcement Learning via a Barrier-Lyapunov
  Actor-Critic Approach
Stable and Safe Reinforcement Learning via a Barrier-Lyapunov Actor-Critic ApproachIEEE Conference on Decision and Control (CDC), 2023
Liqun Zhao
Konstantinos Gatsis
A. Papachristodoulou
360
26
0
08 Apr 2023
A modular framework for stabilizing deep reinforcement learning control
A modular framework for stabilizing deep reinforcement learning controlIFAC-PapersOnLine (IFAC-PapersOnLine), 2023
Nathan P. Lawrence
Philip D. Loewen
Shuyuan Wang
M. Forbes
R. Bhushan Gopaluni
262
1
0
07 Apr 2023
Learning robotic milling strategies based on passive variable
  operational space interaction control
Learning robotic milling strategies based on passive variable operational space interaction controlIEEE Transactions on Automation Science and Engineering (IEEE TASE), 2023
Jamie Hathaway
Alireza Rastegarpanah
Rustam Stolkin
266
10
0
03 Apr 2023
Learning Stabilization Control from Observations by Learning
  Lyapunov-like Proxy Models
Learning Stabilization Control from Observations by Learning Lyapunov-like Proxy ModelsIEEE International Conference on Robotics and Automation (ICRA), 2023
Milan Ganai
Chiaki Hirayama
Ya-Chien Chang
Sicun Gao
302
12
0
03 Mar 2023
Efficient Exploration Using Extra Safety Budget in Constrained Policy
  Optimization
Efficient Exploration Using Extra Safety Budget in Constrained Policy OptimizationIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023
Haotian Xu
Shengjie Wang
Zhaolei Wang
Yunzhe Zhang
Qing Zhuo
Yang Gao
Tao Zhang
186
0
0
28 Feb 2023
A Policy Optimization Method Towards Optimal-time Stability
A Policy Optimization Method Towards Optimal-time StabilityConference on Robot Learning (CoRL), 2023
Shengjie Wang
Lan Fengb
Xiang Zheng
Yu-wen Cao
Oluwatosin Oseni
Haotian Xu
Tao Zhang
Yang Gao
283
3
0
02 Jan 2023
Variational Quantum Soft Actor-Critic for Robotic Arm Control
Variational Quantum Soft Actor-Critic for Robotic Arm Control
Alberto Acuto
Paola Barilla
Ludovico Bozzolo
Matteo Conterno
Mattia Pavese
A. Policicchio
226
12
0
20 Dec 2022
Accelerate Reinforcement Learning with PID Controllers in the Pendulum
  Simulations
Accelerate Reinforcement Learning with PID Controllers in the Pendulum Simulations
Liping Bai
168
0
0
03 Oct 2022
Backward Reachability Analysis of Neural Feedback Loops: Techniques for
  Linear and Nonlinear Systems
Backward Reachability Analysis of Neural Feedback Loops: Techniques for Linear and Nonlinear Systems
Nicholas Rober
Sydney M. Katz
Chelsea Sidrane
Esen Yel
Michael Everett
Mykel J. Kochenderfer
Jonathan P. How
406
36
0
28 Sep 2022
A Learning Approach for Joint Design of Event-triggered Control and
  Power-Efficient Resource Allocation
A Learning Approach for Joint Design of Event-triggered Control and Power-Efficient Resource AllocationIEEE Transactions on Vehicular Technology (IEEE Trans. Veh. Technol.), 2022
Atefeh Termehchi
M. Rasti
131
10
0
14 May 2022
Review of Metrics to Measure the Stability, Robustness and Resilience of
  Reinforcement Learning
Review of Metrics to Measure the Stability, Robustness and Resilience of Reinforcement Learning
L. Pullum
459
6
0
22 Mar 2022
Neural Koopman Lyapunov Control
Neural Koopman Lyapunov ControlNeurocomputing (Neurocomputing), 2022
Vrushabh Zinage
E. Bakolas
252
38
0
13 Jan 2022
Safe Nonlinear Control Using Robust Neural Lyapunov-Barrier Functions
Safe Nonlinear Control Using Robust Neural Lyapunov-Barrier Functions
Charles Dawson
Zengyi Qin
Sicun Gao
Chuchu Fan
499
222
0
14 Sep 2021
Robust Stability of Neural Network-controlled Nonlinear Systems with
  Parametric Variability
Robust Stability of Neural Network-controlled Nonlinear Systems with Parametric Variability
Soumyabrata Talukder
Ratnesh Kumar
272
15
0
13 Sep 2021
Stabilizing Neural Control Using Self-Learned Almost Lyapunov Critics
Stabilizing Neural Control Using Self-Learned Almost Lyapunov Critics
Ya-Chien Chang
Sicun Gao
349
70
0
11 Jul 2021
Learning Deep Energy Shaping Policies for Stability-Guaranteed
  Manipulation
Learning Deep Energy Shaping Policies for Stability-Guaranteed ManipulationIEEE Robotics and Automation Letters (RA-L), 2021
S. A. Khader
Hang Yin
Pietro Falco
Danica Kragic
267
16
0
30 Mar 2021
Reinforcement Learning for Orientation Estimation Using Inertial Sensors
  with Performance Guarantee
Reinforcement Learning for Orientation Estimation Using Inertial Sensors with Performance GuaranteeIEEE International Conference on Robotics and Automation (ICRA), 2021
Liang Hu
Yujie Tang
Zhipeng Zhou
Wei Pan
264
10
0
03 Mar 2021
Stability-Certified Reinforcement Learning via Spectral Normalization
Stability-Certified Reinforcement Learning via Spectral NormalizationSocial Science Research Network (SSRN), 2020
R. Takase
N. Yoshikawa
T. Mariyama
T. Tsuchiya
192
5
0
26 Dec 2020
Battery Model Calibration with Deep Reinforcement Learning
Battery Model Calibration with Deep Reinforcement Learning
Ajaykumar Unagar
Yuan Tian
M. A. Chao
Olga Fink
254
1
0
07 Dec 2020
Reinforcement Learning Control of Constrained Dynamic Systems with
  Uniformly Ultimate Boundedness Stability Guarantee
Reinforcement Learning Control of Constrained Dynamic Systems with Uniformly Ultimate Boundedness Stability Guarantee
Minghao Han
Yuan Tian
Lixian Zhang
Jun Wang
Wei Pan
212
63
0
13 Nov 2020
Model-Reference Reinforcement Learning for Collision-Free Tracking
  Control of Autonomous Surface Vehicles
Model-Reference Reinforcement Learning for Collision-Free Tracking Control of Autonomous Surface Vehicles
Qingrui Zhang
Wei Pan
V. Reppa
182
89
0
17 Aug 2020
Off-Policy Reinforcement Learning for Efficient and Effective GAN
  Architecture Search
Off-Policy Reinforcement Learning for Efficient and Effective GAN Architecture SearchEuropean Conference on Computer Vision (ECCV), 2020
Yuan Tian
Qin Wang
Zhiwu Huang
Wen Li
Dengxin Dai
Minghao Yang
Jun Wang
Olga Fink
OffRL
259
74
0
17 Jul 2020
Real-Time Model Calibration with Deep Reinforcement Learning
Real-Time Model Calibration with Deep Reinforcement Learning
Yuan Tian
M. A. Chao
Chetan S. Kulkarni
K. Goebel
Olga Fink
AI4CE
382
75
0
07 Jun 2020
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