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Lyapunov Design for Robust and Efficient Robotic Reinforcement Learning
v1v2 (latest)

Lyapunov Design for Robust and Efficient Robotic Reinforcement Learning

Conference on Robot Learning (CoRL), 2022
13 August 2022
T. Westenbroek
F. Castañeda
Ayush Agrawal
S. Shankar Sastry
Koushil Sreenath
ArXiv (abs)PDFHTML

Papers citing "Lyapunov Design for Robust and Efficient Robotic Reinforcement Learning"

20 / 20 papers shown
Real-DRL: Teach and Learn in Reality
Real-DRL: Teach and Learn in Reality
Y. Mao
Yihao Cai
L. Sha
OffRL
198
0
0
30 Oct 2025
CLF-RL: Control Lyapunov Function Guided Reinforcement Learning
CLF-RL: Control Lyapunov Function Guided Reinforcement Learning
Kejun Li
Zachary Olkin
Yisong Yue
Aaron D. Ames
213
3
0
12 Aug 2025
Safe Distributed Learning-Enhanced Predictive Control for Multiple Quadrupedal Robots
Safe Distributed Learning-Enhanced Predictive Control for Multiple Quadrupedal Robots
Weidong Zhan
Zheng Liang
Hongyu Song
Wei Pan
226
1
0
06 Mar 2025
Runtime Learning of Quadruped Robots in Wild Environments
Runtime Learning of Quadruped Robots in Wild Environments
Yihao Cai
Y. Mao
L. Sha
H. Cao
Marco Caccamo
347
3
0
02 Mar 2025
Rapidly Adapting Policies to the Real World via Simulation-Guided Fine-Tuning
Rapidly Adapting Policies to the Real World via Simulation-Guided Fine-TuningInternational Conference on Learning Representations (ICLR), 2025
Patrick Yin
Tyler Westenbroek
Simran Bagaria
Kevin Huang
Ching-an Cheng
Andrey Kobolov
Abhishek Gupta
584
14
0
04 Feb 2025
Physics-model-guided Worst-case Sampling for Safe Reinforcement Learning
Physics-model-guided Worst-case Sampling for Safe Reinforcement Learning
H. Cao
Y. Mao
L. Sha
Marco Caccamo
OffRL
376
0
0
17 Dec 2024
Dense Dynamics-Aware Reward Synthesis: Integrating Prior Experience with Demonstrations
Dense Dynamics-Aware Reward Synthesis: Integrating Prior Experience with DemonstrationsConference on Learning for Dynamics & Control (L4DC), 2024
Cevahir Köprülü
Po-han Li
Tianyu Qiu
Ruihan Zhao
T. Westenbroek
David Fridovich-Keil
Sandeep Chinchali
Ufuk Topcu
OffRL
484
2
0
02 Dec 2024
Learning to Walk from Three Minutes of Real-World Data with
  Semi-structured Dynamics Models
Learning to Walk from Three Minutes of Real-World Data with Semi-structured Dynamics ModelsConference on Robot Learning (CoRL), 2024
Jacob Levy
T. Westenbroek
David Fridovich-Keil
383
18
0
11 Oct 2024
Gait Switching and Enhanced Stabilization of Walking Robots with Deep
  Learning-based Reachability: A Case Study on Two-link Walker
Gait Switching and Enhanced Stabilization of Walking Robots with Deep Learning-based Reachability: A Case Study on Two-link WalkerIEEE Conference on Decision and Control (CDC), 2024
Xingpeng Xia
Jason J. Choi
Ayush Agrawal
Koushil Sreenath
Claire J. Tomlin
Somil Bansal
254
1
0
10 Sep 2024
Simplex-enabled Safe Continual Learning Machine
Simplex-enabled Safe Continual Learning Machine
H. Cao
Y. Mao
Yihao Cai
L. Sha
Marco Caccamo
370
3
0
05 Sep 2024
Distributionally Robust Policy and Lyapunov-Certificate Learning
Distributionally Robust Policy and Lyapunov-Certificate Learning
Kehan Long
Jorge Cortés
Nikolay Atanasov
319
5
0
03 Apr 2024
Decomposing Control Lyapunov Functions for Efficient Reinforcement
  Learning
Decomposing Control Lyapunov Functions for Efficient Reinforcement LearningAmerican Control Conference (ACC), 2024
Antonio Lopez
David Fridovich-Keil
277
3
0
18 Mar 2024
Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal
  Locomotion Control
Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Control
Zhongyu Li
Xue Bin Peng
Pieter Abbeel
Sergey Levine
Glen Berseth
Koushil Sreenath
352
187
0
30 Jan 2024
SERL: A Software Suite for Sample-Efficient Robotic Reinforcement Learning
SERL: A Software Suite for Sample-Efficient Robotic Reinforcement LearningIEEE International Conference on Robotics and Automation (ICRA), 2024
Jianlan Luo
Zheyuan Hu
Charles Xu
You Liang Tan
Jacob Berg
Archit Sharma
S. Schaal
Chelsea Finn
Abhishek Gupta
Sergey Levine
OffRLOnRL
739
120
0
29 Jan 2024
Benchmarking Potential Based Rewards for Learning Humanoid Locomotion
Benchmarking Potential Based Rewards for Learning Humanoid LocomotionIEEE International Conference on Robotics and Automation (ICRA), 2023
Seungmin Jeon
Steve Heim
Charles Khazoom
Sangbae Kim
OffRL
237
29
0
19 Jul 2023
Enabling Efficient, Reliable Real-World Reinforcement Learning with
  Approximate Physics-Based Models
Enabling Efficient, Reliable Real-World Reinforcement Learning with Approximate Physics-Based ModelsConference on Robot Learning (CoRL), 2023
T. Westenbroek
Jacob Levy
David Fridovich-Keil
303
0
0
16 Jul 2023
Value Functions are Control Barrier Functions: Verification of Safe
  Policies using Control Theory
Value Functions are Control Barrier Functions: Verification of Safe Policies using Control Theory
Daniel C.H. Tan
Fernando Acero
Robert McCarthy
Dimitrios Kanoulas
Zhibin Li
OffRL
469
7
0
06 Jun 2023
Learning to Stabilize Online Reinforcement Learning in Unbounded State
  Spaces
Learning to Stabilize Online Reinforcement Learning in Unbounded State SpacesInternational Conference on Machine Learning (ICML), 2023
Brahma S. Pavse
M. Zurek
Yudong Chen
Qiaomin Xie
Josiah P. Hanna
OffRL
440
3
0
02 Jun 2023
Physics-Regulated Deep Reinforcement Learning: Invariant Embeddings
Physics-Regulated Deep Reinforcement Learning: Invariant EmbeddingsInternational Conference on Learning Representations (ICLR), 2023
H. Cao
Y. Mao
L. Sha
Marco Caccamo
PINNAI4CE
313
11
0
26 May 2023
Physical Deep Reinforcement Learning Towards Safety Guarantee
Physical Deep Reinforcement Learning Towards Safety Guarantee
H. Cao
Y. Mao
L. Sha
Marco Caccamo
AI4CE
124
5
0
29 Mar 2023
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