Research Blogs

Wed, 07/21/2021

Abstract: We study constrained reinforcement learning (CRL) from a novel perspective by setting constraints directly on state density functions, rather than the value functions considered by previous works. State density has a clear physical...

Thu, 07/01/2021

Abstract: In this work, we proposed a reactive agent model which can ensure safety without comprising the original purposes, by learning only high-level decisions from expert data and a low level decentralized controller guided by the jointly learned decentralized barrier...

Sat, 05/15/2021

Abstract: We study the multi-agent reach-avoid control problem for large-scale systems where each agent should avoid collisions with other agents and obstacles while reaching the goals. The key of our method to scale to a large number of agents is to design a decentralized multi...

Wed, 04/07/2021

Abstract: Planning in hybrid systems with both discrete and continuous control variables is important for dealing with real-world applications such as extra-planetary exploration and multi-vehicle transportation systems. Meanwhile, generating high-quality...

Mon, 04/05/2021

Abstract: Robots operating in unstructured, complex, and changing real-world environments should navigate and maintain safety while collecting data about its environment and updating its model dynamics. In this paper, we consider the problem of using a...

Fri, 04/02/2021

Abstract: In this paper, we solve the problem of finding a certified control policy that drives a robot from any given initial state and under any bounded disturbance to the desired reference trajectory, with guarantees on the convergence or bounds on the...

Sun, 03/21/2021

Abstract: We study the multi-agent safe control problem where agents should avoid collisions to static obstacles and collisions with each other while reaching their goals. Our core idea is to learn the multi-agent control policy jointly with...

Fri, 03/12/2021

Abstract: We present a scalable and effective multi-agent safe motion planner that enables a group of agents to move to their desired locations while avoiding collisions with obstacles and other agents, with the presence of rich obstacles, high-...