no code implementations • 18 Apr 2024 • Ruofan Wu, Junmin Zhong, Jennie Si
We prove qualitative properties of PAAC for learning convergence of the value and policy, solution optimality, and stability of system dynamics.
no code implementations • 7 Nov 2023 • Junmin Zhong, Ruofan Wu, Jennie Si
We address the issue of estimation bias in deep reinforcement learning (DRL) by introducing solution mechanisms that include a new, twin TD-regularized actor-critic (TDR) method.
no code implementations • 31 Jul 2023 • Brent A. Wallace, Jennie Si
This work introduces new results in continuous-time reinforcement learning (CT-RL) control of affine nonlinear systems to address a major algorithmic challenge due to a lack of persistence of excitation (PE).
no code implementations • 18 Jul 2023 • Brent A. Wallace, Jennie Si
The goal of this work is thus to introduce a suite of new CT-RL algorithms for control of affine nonlinear systems.
no code implementations • 10 Oct 2022 • Junmin Zhong, Ruofan Wu, Jennie Si
However, there is a lack of comprehensive and systematic study on this important aspect to demonstrate the effectiveness of multi-step methods in solving highly complex continuous control problems.
no code implementations • 31 Dec 2020 • Zhikai Yao, Jennie Si, Ruofan Wu, Jianyong Yao
Our proposed new design takes advantage of two control design frameworks: a reinforcement learning based, data-driven approach to provide the needed adaptation and (sub)optimality, and a backstepping based approach to provide closed-loop system stability framework.
no code implementations • 16 Jun 2020 • Xiang Gao, Jennie Si, Yue Wen, Minhan Li, He, Huang
We are motivated by the real challenges presented in a human-robot system to develop new designs that are efficient at data level and with performance guarantees such as stability and optimality at systems level.
no code implementations • 16 Jun 2020 • Qingtao Zhao, Jennie Si, Jian Sun
In this paper time-driven learning refers to the machine learning method that updates parameters in a prediction model continuously as new data arrives.
no code implementations • 11 Jun 2020 • Minhan Li, Yue Wen, Xiang Gao, Jennie Si, He Helen Huang
Personalizing medical devices such as lower limb wearable robots is challenging.