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Follow the Clairvoyant: an Imitation Learning Approach to Optimal Control

Publications associées (25)

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Learning dynamical systems with bifurcations

Aude Billard, Ilaria Lauzana, Farshad Khadivar

Trajectory planning through dynamical systems (DS) provides robust control for robots and has found numerous applications from locomotion to manipulation. However, to date, DS for controlling rhythmic patterns are distinct from DS used to control point to ...

Elsevier2021

Complexity analysis of stochastic gradient methods for PDE-constrained optimal control problems with uncertain parameters

Fabio Nobile, Sebastian Krumscheid, Matthieu Claude Martin

We consider the numerical approximation of an optimal control problem for an elliptic Partial Differential Equation (PDE) with random coefficients. Specifically, the control function is a deterministic, distributed forcing term that minimizes the expected ...

2021

Optimal Control Combining Emulation and Imitation to Acquire Physical Assistance Skills

Sylvain Calinon, Amirreza Razmjoo Fard, Teguh Santoso Lembono

paper studies exploiting action-level learning (imitation) in the optimal control problem context. Cost functions defined by the optimal control methods are similar to the goal-level learning (emulation) in animals. However, imitating the robot's or others ...

IEEE2021

Arm-hand motion-force coordination for physical interactions with non-flat surfaces using dynamical systems: Toward compliant robotic massage

Aude Billard, Mahdi Khoramshahi, Seyed Sina Mirrazavi Salehian, Aileen Charlotte Naef, Karl Gustav Henriks

Many manipulation tasks require coordinated motions for arm and fingers. Complexity increases when the task requires to control for the force at contact against a non-flat surface; This becomes even more challenging when this contact is done on a human. Al ...

IEEE2020

Optimization-based Control, Estimation, and Identification of Urban Road Transport Systems

Isik Ilber Sirmatel

Urbanization intensifies as a global trend, exposing transportation networks to ever increasing levels of congestion. As network usage increases with available infrastructure, building new roads is not a solution. Design of intelligent transportation syste ...

EPFL2020

On the relaxed maximum-likelihood blind MIMO channel estimation for orthogonal space-time block codes

Kamran Kalbasi

This paper concerns the maximum-likelihood channel estimation for MIMO systems with orthogonal space-time block codes when the finite alphabet constraint of the signal constellation is relaxed. We study the channel coefficients estimation subspace generate ...

ELSEVIER2020

The (h, k)-Server Problem on Bounded Depth Trees

Marek Elias

We study the k-server problem in the resource augmentation setting, i.e., when the performance of the online algorithm with k servers is compared to the offline optimal solution with h

ASSOC COMPUTING MACHINERY2019

Low-Complexity Optimization-Based Control: Design, Methods and Applications

Ivan Pejcic

Optimization-based controllers are advanced control systems whose mechanism of determining control inputs requires the solution of a mathematical optimization problem. In this thesis, several contributions related to the computational effort required for o ...

EPFL2019

Concept of Variants and Invariants for Reaction Systems, with Application to Estimation, Control and Optimization

Diogo Filipe Mateus Rodrigues

The concept of reaction variants and invariants for lumped reaction systems has been known for several decades. Its applications encompass model identification, data reconciliation, state estimation and control using kinetic models. In this thesis, the con ...

EPFL2018

PDE-Constrained Optimal Control Problems with Uncertain Parameters using SAGA

Fabio Nobile, Matthieu Claude Martin

We consider an optimal control problem (OCP) for a partial differential equation (PDE) with random coefficients. The optimal control function is a deterministic, distributed forcing term that minimizes an expected quadratic regularized loss functional. For ...

2021

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Learning dynamical systems with bifurcations

Aude Billard, Ilaria Lauzana, Farshad Khadivar

Elsevier2021

Optimal Control Combining Emulation and Imitation to Acquire Physical Assistance Skills

Sylvain Calinon, Amirreza Razmjoo Fard, Teguh Santoso Lembono

IEEE2021

Arm-hand motion-force coordination for physical interactions with non-flat surfaces using dynamical systems: Toward compliant robotic massage

Aude Billard, Mahdi Khoramshahi, Seyed Sina Mirrazavi Salehian, Aileen Charlotte Naef, Karl Gustav Henriks

IEEE2020

On the relaxed maximum-likelihood blind MIMO channel estimation for orthogonal space-time block codes

Kamran Kalbasi

ELSEVIER2020

The (h, k)-Server Problem on Bounded Depth Trees

Marek Elias

We study the k-server problem in the resource augmentation setting, i.e., when the performance of the online algorithm with k servers is compared to the offline optimal solution with h

ASSOC COMPUTING MACHINERY2019

Low-Complexity Optimization-Based Control: Design, Methods and Applications

Ivan Pejcic

EPFL2019

Complexity analysis of stochastic gradient methods for PDE-constrained optimal control problems with uncertain parameters

Fabio Nobile, Sebastian Krumscheid, Matthieu Claude Martin

2021