Hybrid method uses GP models to control robot trajectories.
problem Minimizing unmodeled dynamics in robot motion.
method Embeds non-parametric statistical models (GPs) for feedback control.
result Proposed method avoids complex analysis for wide trajectory classes.
Study extremal trajectories of a rolling disk using geometric control theory.
problem Optimizing the motion of a vertical rolling disk.
method Geometric control theory and symmetries of geometric structures.
result Demonstrated computations in Maple for extremal trajectories.
A new reinforcement learning method reduces action complexity for robust control.
problem Deep reinforcement learning's susceptibility to spurious correlations.
method Minimizing trajectory entropy to encourage simple, predictable actions.
result Trajectory Entropy Reinforcement Learning achieves superior performance and robustness.
Reinforcement learning optimizes robot trajectories for unknown dynamics.
problem Optimizing robot trajectories for systems with unknown dynamics.
method Curriculum learning with reinforcement learning to generate smooth trajectories.
result Reinforcement learning agent outperforms PID controllers in trajectory tracking.
We study local control of the mechanism with the growth vector (4,7). We study controllability and extremal trajectories on the nilpotent approximation as an example of the control theory on Lie group. We give solutions of the system an show examples of local extremal trajectories.
Energy-based model learns cost functions from expert demonstrations for optimal control.
problem Learning unknown cost functions from expert demonstrations for optimal control.
method Maximum likelihood estimation via analysis by synthesis, combining Langevin dynamics with optimization and cooperative learning.
result The method can learn suitable cost functions for optimal control tasks.
We consider in this paper the regularity problem for time-optimal trajectories of a single-input control-affine system on a n-dimensional manifold. We prove that, under generic conditions on the drift and the controlled vector field, any control u associated with an optimal trajectory is smooth out of a countable set o…
Visualizes movement control optimization landscapes to understand why it's hard and how to make it easier.
problem Understanding and optimizing movement control problems in animation research.
method Novel visualizations of high-dimensional control optimization landscapes.
result Trajectory optimization becomes increasingly ill-conditioned with longer trajectories, while parameterizing control as partial target states can act as an efficient preconditioner.
This work enables UAVs to autonomously form desired trajectories without needing a central plan.
problem Autonomous formation of complex trajectories in UAVs.
method Decentralized control system using geometric embeddings.
result Quadcopters self-organize into desired trajectories while maintaining separation.
Improves model-based control and exploration by estimating model uncertainty.
problem Inaccuracies in model predictions lead to frequent re-planning, inefficiency, and unreliability.
method Estimates model uncertainty using reconstruction error and uses it for better control and active exploration.
result Improves control performance and exploration efficiency by choosing confident model predictions and planning for high uncertainty.
Proposes deep optimal feedback control for continuous-time systems with action constraints.
problem Learning optimal feedback control laws for robotic applications.
method Exploits Hamilton-Jacobi-Bellman equation and deep differential networks to learn optimal value function and feedback policy.
result Enables learning an optimal feedback control law that generates an optimal trajectory from any point in state-space without replanning.
Optimal tracking of nonholonomic systems using geometric methods.
problem Tracking a trajectory for nonholonomic mechanical systems.
method Geometric optimal control, Pontryagin Maximum Principle, variational approach.
result Optimal control solutions for nonholonomic systems validated by examples and simulations.
We study control systems invariant under a Lie group with application to the problem of nonlinear trajectory planning. A theory of symmetry reduction of exterior differential systems is employed to demonstrate how symmetry reduction and reconstruction is effective in the explicit, exact construction of planned system t…
Physics-informed learning framework for pH systems and EB-PBC control.
problem Control of port-Hamiltonian systems from trajectory data.
method Co-learning of pH system model and EB-PBC through alternating optimization.
result Proven stability and robustness of the learned controller.
DMPC combines MPC and value function estimation for efficient control tasks.
problem Efficiently solve control tasks with sparse and binary reward signals.
method Actor-critic algorithm combining MPC and value function estimation.
result DMPC actor minimizes an upper bound of cross-entropy to optimal policy.
Learning weights in a spiking neural network with hidden neurons, using local, stable and online rules, to control non-linear body dynamics is an open problem. Here, we employ a supervised scheme, Feedback-based Online Local Learning Of Weights (FOLLOW), to train a network of heterogeneous spiking neurons with hidden l…
Study of 2D Lorentzian anti-de Sitter plane using geometric control theory.
problem Understanding extremal trajectories and reachable set on anti-de Sitter plane.
method Geometric control theory and differential geometry.
result Construction of optimal synthesis and description of Lorentzian distance.
Trajectory-wise CVs reduce variance in policy gradient methods.
problem High variance in estimating policy gradient estimates.
method Proposes trajectory-wise control variates to reduce variance without bias.
result Trajectory-wise CVs are optimal for variance reduction under reasonable assumptions.
ToolChain-CRC addresses the risk-control problem for retrieval-augmented and tool-using agents under drift.
problem Risk-control problem for retrieval-augmented and tool-using agents under drift.
method ToolChain-CRC uses conformal risk-control under exchangeable calibration runs.
result Trajectory-level risk control keeps accepted-trajectory risk below the target.
Develops a new model for controllable and realistic traffic simulation.
problem Lack of models that offer both controllability and realism in traffic simulation.
method Guided Conditional Diffusion (CTG) model using diffusion modeling and differentiable logic.
result Improves controllability-realism tradeoff over strong baselines.
New algorithms learn stability certificates from data, avoiding complex dynamics.
problem Synthesizing stability certificates from complex dynamical systems.
method Developed algorithms to learn certificate functions from trajectory data, establishing generalization error bounds.
result Efficiently learned certificates can be used for adaptive control.
Study optimal paths in Zermelo's navigation problem using geometric equations.
problem Optimal control paths in Zermelo's navigation problem.
method Geometric and differential equations approach to obtain precise ODE system.
result Obtained precise equations for optimal trajectories.
A new framework uses stochastic optimal control to estimate rare events more accurately.
problem Estimating rare events like chemical reactions in biomolecules is computationally challenging.
method The approach casts committor estimation as a stochastic optimal control problem, developing direct and off-policy Value Matching losses.
result The framework yields more accurate committor estimates, reaction rates, and equilibrium constants.
Paper optimizes UAV-assisted mobile edge computing for energy efficiency.
problem Minimizing energy consumption in UAV-assisted mobile edge computing.
method Proposes CAT and RAT algorithms combining convex optimization and deep reinforcement learning.
result RAT achieves similar performance and outperforms traditional algorithms.
Reinforcement Learning optimizes low-thrust interplanetary trajectories under disturbances.
problem Designing robust interplanetary trajectories in the presence of disturbances.
method Reformulated as a Markov Decision Process, RL algorithm Proximal Policy Optimization trained on a deep neural network.
result Deep neural network provides robust nominal trajectory and guidance law.
This work frames active inference through control as inference, offering robust control algorithms.
problem Active inference framework lacks practical sensorimotor control algorithms.
method Frame active inference through control as inference, presenting trajectory optimization as inference.
result AI may be framed as partially-observed CaI when the cost function is defined in observation states.
Novel algorithm for optimal control of nonlinear systems.
problem Optimal control of nonlinear stochastic dynamical systems with unknown dynamics.
method Decoupled data-based approach combining open-loop and closed-loop control.
result Performance of D2C algorithm is approximately optimal and significantly reduces training time.
Extends RL to random stopping times, improving optimization.
problem Real-world applications with random stopping times.
method Extended RL framework to random stopping times, derived new formulas.
result Improves optimization convergence with new formulas.
Paper characterizes optimal learning trajectories for high-dimensional nonlinear models.
problem Characterizing optimal learning trajectories in high-dimensional nonlinear models.
method Exploits maximum principle and dynamic programming for an optimal control problem of a gradient system.
result Constructs optimal learning trajectories leading to optimal model parameters.
Deep neural network learns optimal trading controls for high-frequency finance.
problem Optimal trading on high-frequency data with market impact and limited data.
method Deep neural network, Monte-Carlo initialization, transfer learning, explainable controls.
result Neural network learns optimal controls for trader preferences.
POLO framework enables efficient learning and exploration in model-based control.
problem Efficient learning and exploration in model-based control settings.
method Combines local model-based control, global value function learning, and exploration.
result POLO framework accelerates value function learning and enables better policies.
Study on estimating unstable open-loop matrices from state trajectories.
problem System identification for stochastic continuous-time dynamics.
method Employing randomized control inputs to estimate unstable open-loop matrix.
result Estimation error decays with trajectory length, signal-to-noise ratio, and excitability.
Variational inference improves training of generative flow networks.
problem Training generative flow networks efficiently and accurately.
method Define variational objectives in terms of KL divergences and optimize convex combinations.
result Variational inference methods can reduce the variance of gradients in training generative flow networks.
Regularizes trajectory optimization with denoising autoencoders.
problem Trajectory optimization models are prone to inaccuracies.
method Uses a denoising autoencoder trained on the same trajectories.
result Improves planning with gradient-based and gradient-free optimizers.
PhysVarMix predicts diverse urban trajectories with physics constraints.
problem Predicting complex urban agent trajectories with multiple plausible scenarios.
method Physics-informed variational mixture model combining learning and physics constraints.
result Superior performance compared to existing methods on benchmark datasets.
Extends driving model to control agent behavior in simulations.
problem Simulate realistic driving behavior for autonomous systems.
method Introduces Control-ITRA method to influence agent behavior through waypoint assignment and target speed modulation.
result Demonstrates controllable, infraction-free trajectories while preserving realism.
The paper proves that linearization along trajectories preserves flatness in discrete-time systems.
problem The relation between nonlinear and linear time-varying systems.
method Linearization along trajectories of a flat discrete-time system.
result The linearized system is flat, and a flat output can be derived.
The purpose of this paper is to use the framework of Lie algebroids to study optimal control problems for affine connection control systems on Lie groups. In this context, the equations for critical trajectories of the problem are geometrically characterized as a Hamiltonian vector field.
Proposes SSC for estimating counterfactual survival trajectories from observational data.
problem Challenges in estimating causal effects on time-to-event outcomes from observational data.
method Synthetic Survival Control (SSC) framework for estimating counterfactual hazard trajectories in panel data settings.
result SSC estimates counterfactual hazard trajectories as a weighted combination of observed trajectories from other units.
ARPs improve exploration and sample efficiency in continuous control tasks.
problem Limited exploration in continuous control tasks leading to low sample efficiency.
method Introduce autoregressive policies (ARPs) with temporally coherent standard normal distributions.
result ARPs enhance exploration and sample efficiency in both simulated and real-world domains.
Study compares RL and DT-based control for hedging European call options.
problem Optimizing hedging strategies for European call options with transaction costs.
method Reinforcement Learning vs. Deep Trajectory-based Stochastic Control.
result RL and DT-based methods perform differently under stepwise mean-variance hedging.
CEM-GD combines CEM and gradient descent for efficient model-based RL.
problem Efficient planning in continuous control settings with large prediction horizons.
method Combines CEM for exploration and gradient descent for exploitation.
result Achieves better performance with fewer samples and less computation time.
This work reviews left-invariant optimal control problems on Lie groups.
problem Optimal control problems on Lie groups with big symmetry.
method Review of main notions, methods, and results.
result Description of extremal trajectories and their optimality, cut time and cut locus, optimal synthesis.
This work provides safety guarantees for iterative GP predictions.
problem Analytical intractability of uncertainty tracking in iterative GP predictions.
method Deriving formal probability error bounds for iterative GP predictions.
result Formal bounds ensure that GP trajectories lie within specified regions with high probability.
Develops a numerical algorithm for stochastic impulse control using regression surrogates.
problem Optimal impulse control in stochastic processes.
method Generates statistical surrogates for continuation and intervention functions, recursively trained over simulated state trajectories.
result Demonstrates flexibility and extensibility of the numerical scheme through case studies.
CitySim dataset captures vehicle trajectories for safety research.
problem Lack of fine-grain vehicle trajectories for safety-oriented research.
method Five-step procedure: video stabilization, object filtering, stitching, detection, and error filtering.
result CitySim dataset improves safety evaluations and facilitates digital-twin research.
We show an example providing a significance in geometric control theory of the existence of the dependence locus of a system of vector fields in particular, the generic appearance of non-trivial singular trajectories embedded in the dependence locus.
Policy optimization is an effective reinforcement learning approach to solve continuous control tasks. Recent achievements have shown that alternating online and offline optimization is a successful choice for efficient trajectory reuse. However, deciding when to stop optimizing and collect new trajectories is non-triv…