Zobrazeno 1 - 10
of 60
pro vyhledávání: '"Cheng, Yikun"'
Publikováno v:
IEEE SMC 2024
Image-guided minimally invasive robotic surgery is commonly employed for tasks such as needle biopsies or localized therapies. However, the nonlinear deformation of various tissue types presents difficulties for surgeons in achieving precise needle t
Externí odkaz:
http://arxiv.org/abs/2409.04761
Safe and Efficient Reinforcement Learning Using Disturbance-Observer-Based Control Barrier Functions
Safe reinforcement learning (RL) with assured satisfaction of hard state constraints during training has recently received a lot of attention. Safety filters, e.g., based on control barrier functions (CBFs), provide a promising way for safe RL via mo
Externí odkaz:
http://arxiv.org/abs/2211.17250
Publikováno v:
Robotics 2024, 13, 99
This paper presents an approach to trajectory-centric learning control based on contraction metrics and disturbance estimation for nonlinear systems subject to matched uncertainties. The approach uses deep neural networks to learn uncertain dynamics
Externí odkaz:
http://arxiv.org/abs/2112.08222
Publikováno v:
In Powder Technology 1 August 2024 444
Publikováno v:
In Talanta 1 June 2024 273
A reinforcement learning (RL) policy trained in a nominal environment could fail in a new/perturbed environment due to the existence of dynamic variations. Existing robust methods try to obtain a fixed policy for all envisioned dynamic variation scen
Externí odkaz:
http://arxiv.org/abs/2106.02249
Publikováno v:
In Microchemical Journal May 2024 200
Publikováno v:
In Journal of Colloid And Interface Science 15 April 2024 660:166-176
Publikováno v:
In Chemical Engineering Science 5 March 2024 285
Publikováno v:
In Journal of Colloid And Interface Science March 2024 657:664-671