Stabilizing Neural Control Using Self-Learned Almost Lyapunov Critics

11 July 2021

Papers citing "Stabilizing Neural Control Using Self-Learned Almost Lyapunov Critics"

31 / 31 papers shown

Title
Is Bellman Equation Enough for Learning Control? Haoxiang You Lekan Molu Ian Abraham 68 0 0 04 Mar 2025
Physics-model-guided Worst-case Sampling for Safe Reinforcement Learning H. Cao Y. Mao L. Sha Marco Caccamo OffRL 100 0 0 17 Dec 2024
Autonomous Wheel Loader Navigation Using Goal-Conditioned Actor-Critic MPC Aleksi Mäki-Penttilä Naeim Ebrahimi Toulkani Reza Ghabcheloo 36 0 0 24 Sep 2024
Critic as Lyapunov function (CALF): a model-free, stability-ensuring agent Pavel Osinenko Grigory Yaremenko Roman Zashchitin Anton Bolychev Sinan Ibrahim D. Dobriborsci 30 3 0 15 Sep 2024
Simplex-enabled Safe Continual Learning Machine H. Cao Y. Mao Yihao Cai L. Sha Marco Caccamo 44 3 0 05 Sep 2024
Hamilton-Jacobi Reachability in Reinforcement Learning: A Survey Milan Ganai Sicun Gao Sylvia Herbert 42 6 0 12 Jul 2024
Safe and Reliable Training of Learning-Based Aerospace Controllers Udayan Mandal Guy Amir Haoze Wu Ieva Daukantas Fletcher Lee Newell ... Kerianne Hobbs Milan Ganai Tobey Shim Guy Katz Clark Barrett 45 2 0 09 Jul 2024
Formally Verifying Deep Reinforcement Learning Controllers with Lyapunov Barrier Certificates Udayan Mandal Guy Amir Haoze Wu Ieva Daukantas Fletcher Lee Newell ... Michael Durling Milan Ganai Tobey Shim Guy Katz Clark W. Barrett 47 7 0 22 May 2024
Extremum-Seeking Action Selection for Accelerating Policy Optimization Ya-Chien Chang Sicun Gao 40 0 0 02 Apr 2024
Compositional Policy Learning in Stochastic Control Systems with Formal Guarantees Dorde Zikelic Mathias Lechner Abhinav Verma K. Chatterjee T. Henzinger 38 10 0 03 Dec 2023
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 18 2 0 21 Oct 2023
DexCatch: Learning to Catch Arbitrary Objects with Dexterous Hands Fengbo Lan Shengjie Wang Yunzhe Zhang Haotian Xu Oluwatosin Oseni Yang Gao Tao Zhang 47 5 0 13 Oct 2023
Iterative Reachability Estimation for Safe Reinforcement Learning Milan Ganai Zheng Gong Chenning Yu Sylvia Herbert Sicun Gao 38 17 0 24 Sep 2023
Physics-Regulated Deep Reinforcement Learning: Invariant Embeddings H. Cao Y. Mao L. Sha Marco Caccamo PINN AI4CE 38 5 0 26 May 2023
Neural Lyapunov Control for Discrete-Time Systems Junlin Wu Andrew Clark Y. Kantaros Yevgeniy Vorobeychik 38 24 0 11 May 2023
Stable and Safe Reinforcement Learning via a Barrier-Lyapunov Actor-Critic Approach Liqun Zhao Konstantinos Gatsis A. Papachristodoulou 28 13 0 08 Apr 2023
Physical Deep Reinforcement Learning Towards Safety Guarantee H. Cao Y. Mao L. Sha Marco Caccamo AI4CE 19 5 0 29 Mar 2023
Learning Stabilization Control from Observations by Learning Lyapunov-like Proxy Models Milan Ganai Chiaki Hirayama Ya-Chien Chang Sicun Gao 32 6 0 03 Mar 2023
Efficient Exploration Using Extra Safety Budget in Constrained Policy Optimization Haotian Xu Shengjie Wang Zhaolei Wang Yunzhe Zhang Qing Zhuo Yang Gao Tao Zhang 18 0 0 28 Feb 2023
Learning Control-Oriented Dynamical Structure from Data Spencer M. Richards Jean-Jacques E. Slotine Navid Azizan Marco Pavone 20 6 0 06 Feb 2023
Certifiably Robust Reinforcement Learning through Model-Based Abstract Interpretation Chenxi Yang Greg Anderson Swarat Chaudhuri 32 1 0 26 Jan 2023
A Policy Optimization Method Towards Optimal-time Stability Shengjie Wang Lan Fengb Xiang Zheng Yu-wen Cao Oluwatosin Oseni Haotian Xu Tao Zhang Yang Gao 39 1 0 02 Jan 2023
Policy Optimization with Advantage Regularization for Long-Term Fairness in Decision Systems Eric Yang Yu Zhizhen Qin Min Kyung Lee Sicun Gao OffRL 37 15 0 22 Oct 2022
Learning Control Policies for Stochastic Systems with Reach-avoid Guarantees Dorde Zikelic Mathias Lechner T. Henzinger K. Chatterjee 24 22 0 11 Oct 2022
Learning Provably Stabilizing Neural Controllers for Discrete-Time Stochastic Systems Matin Ansaripour K. Chatterjee T. Henzinger Mathias Lechner Dorde Zikelic 40 5 0 11 Oct 2022
Example When Local Optimal Policies Contain Unstable Control B. Song Jean-Jacques E. Slotine Quang Pham 48 1 0 15 Sep 2022
QuaDUE-CCM: Interpretable Distributional Reinforcement Learning using Uncertain Contraction Metrics for Precise Quadrotor Trajectory Tracking Yanran Wang James O’Keeffe Qiuchen Qian David E. Boyle 33 8 0 15 Jul 2022
Safe Control with Learned Certificates: A Survey of Neural Lyapunov, Barrier, and Contraction methods Charles Dawson Sicun Gao Chuchu Fan 43 232 0 23 Feb 2022
Learning Safe, Generalizable Perception-based Hybrid Control with Certificates Charles Dawson Bethany Lowenkamp D. Goff Chuchu Fan 47 53 0 04 Jan 2022
Total Energy Shaping with Neural Interconnection and Damping Assignment -- Passivity Based Control Santiago Sanchez-Escalonilla Rodolfo Reyes-Báez B. Jayawardhana 28 8 0 24 Dec 2021
Learn Proportional Derivative Controllable Latent Space from Pixels Weiyao Wang Marin Kobilarov Gregory Hager 54 1 0 15 Oct 2021