Improving the Robustness of Reinforcement Learning Policies With Adaptive Control Y Cheng, P Zhao, F Wang, DJ Block, N Hovakimyan
IEEE Robotics and Automation Letters 7 (3), 6574-6581, 2022
15 2022 Convex synthesis of control barrier functions under input constraints P Zhao, R Ghabcheloo, Y Cheng, H Abdi, N Hovakimyan
IEEE Control Systems Letters, 2023
5 2023 Safe and efficient reinforcement learning using disturbance-observer-based control barrier functions Y Cheng, P Zhao, N Hovakimyan
Learning for Dynamics and Control Conference, 104-115, 2023
4 2023 Guaranteed contraction control in the presence of imperfectly learned dynamics P Zhao, Z Guo, Y Cheng, A Gahlawat, N Hovakimyan
arXiv preprint arXiv:2112.08222, 2022
1 2022 Robustifying reinforcement learning policies with L1 adaptive control Y Cheng, P Zhao, M Gandhi, B Li, E Theodorou, N Hovakimyan
ICRA 2021 Workshop on Safe Robot Control with Learned Motion and Environment …, 2021
1 2021 Safety constrained multi-UAV time coordination: a bi-level control framework in GPS denied environment W Wan, H Kim, Y Cheng, N Hovakimyan, P Voulgaris, L Sha
AIAA AVIATION 2021 FORUM, 2463, 2021
1 2021 Guaranteed Nonlinear Tracking in the Presence of DNN-Learned Dynamics With Contraction Metrics and Disturbance Estimation P Zhao, Z Guo, A Gahlawat, H Kang, N Hovakimyan
arXiv preprint arXiv:2112.08222, 2021
2021 Robustifying Reinforcement Learning Policies with Adaptive Control Y Cheng, P Zhao, M Gandhi, B Li, E Theodorou, N Hovakimyan
arXiv preprint arXiv:2106.02249, 2021
2021 Improving the Robustness of Reinforcement Learning Policies with L1 Adaptive Control–Extended Version Y Cheng, P Zhao, F Wang, DJ Block, N Hovakimyan
L1-RL: Robustifying Reinforcement Learning Policies with L1 Adaptive Control Y Cheng, P Zhao, M Gandhi, B Li, E Theodorou, N Hovakimyan
All posts by ronaldchoe N Hovakimyan, A Gahlawat, H Kim, K Ackerman, Y Cheng, G Haberfeld, ...
Cyber-Physical-Human Systems N Hovakimyan, A Gahlawat, H Kim, P Zhao, K Ackerman, Y Cheng, ...