1 code implementation • 13 Nov 2023 • Yunan Wang, Chuxiong Hu, Zeyang Li, Shize Lin, Suqin He, Yu Zhu
Time-optimal control for high-order chain-of-integrators systems with full state constraints and arbitrarily given terminal states remains a challenging problem in the optimal control theory domain, yet to be resolved.
no code implementations • 12 Nov 2023 • Zeyang Li, Chuxiong Hu, WeiYe Zhao, Changliu Liu
This paper presents a theoretical framework that bridges the advantages of both RMPC and RL to synthesize safety filters for nonlinear systems with state- and action-dependent uncertainty.
no code implementations • 11 Oct 2023 • Zeyang Li, Chuxiong Hu, Yunan Wang, Guojian Zhan, Jie Li, Shengbo Eben Li
We also show that a modified version of regularized policy iteration, i. e., with finite-step policy evaluation, is equivalent to inexact Newton method where the Newton iteration formula is solved with truncated iterations.
no code implementations • 11 Oct 2023 • Zeyang Li, Chuxiong Hu, Shengbo Eben Li, Jia Cheng, Yunan Wang
To address this challenge, this paper proposes a robust safe reinforcement learning framework that tackles worst-case disturbances.
no code implementations • 13 Sep 2023 • Zeyang Li, Chuxiong Hu, Yunan Wang, Yujie Yang, Shengbo Eben Li
To address this issue, we propose a systematic framework to unify safe RL and robust RL, including problem formulation, iteration scheme, convergence analysis and practical algorithm design.