Keeping Creativity under Control: Contributions of Attention Control and Fluid Intelligence to Divergent Thinking
- Award ID(s):
- 1920653
- Publication Date:
- NSF-PAR ID:
- 10285673
- Journal Name:
- Creativity Research Journal
- Volume:
- 33
- Issue:
- 2
- Page Range or eLocation-ID:
- 138 to 157
- ISSN:
- 1040-0419
- Sponsoring Org:
- National Science Foundation
More Like this
-
In this paper, the issue of model uncertainty in safety-critical control is addressed with a data-driven approach. For this purpose, we utilize the structure of an input-output linearization controller based on a nominal model along with a Control Barrier Function and Control Lyapunov Function based Quadratic Program (CBF-CLF-QP). Specifically, we propose a novel reinforcement learning framework which learns the model uncertainty present in the CBF and CLF constraints, as well as other control-affine dynamic constraints in the quadratic program. The trained policy is combined with the nominal model based CBF-CLF-QP, resulting in the Reinforcement Learning based CBF-CLF-QP (RL-CBF-CLF-QP), which addressesmore »