skip to main content
US FlagAn official website of the United States government
dot gov icon
Official websites use .gov
A .gov website belongs to an official government organization in the United States.
https lock icon
Secure .gov websites use HTTPS
A lock ( lock ) or https:// means you've safely connected to the .gov website. Share sensitive information only on official, secure websites.


Title: Hybrid LMC: Hybrid Learning and Model-based Control for Wheeled Humanoid Robot via Ensemble Deep Reinforcement Learning
Award ID(s):
2024775
PAR ID:
10563172
Author(s) / Creator(s):
; ;
Publisher / Repository:
IEEE
Date Published:
ISBN:
978-1-6654-7927-1
Page Range / eLocation ID:
9347 to 9354
Format(s):
Medium: X
Location:
Kyoto, Japan
Sponsoring Org:
National Science Foundation
More Like this
  1. A hybrid machine learning (HML) model combining a-priori and a-posteriori knowledge is implemented and tested, which is shown to reduce the prediction error and training complexity, compared to an analytical or neural network learning model. 
    more » « less
  2. Abstract: A hybrid machine learning (HML) model combining a-priori and a-posteriori knowledge is implemented and tested, which is shown to reduce the prediction error and training complexity, compared to an analytical or neural network learning model. 
    more » « less
  3. Hybrid modelling reduces the misspecification of expert models by combining them with machine learning (ML) components learned from data. Similarly to many ML algorithms, hybrid model performance guarantees are limited to the training distribution. Leveraging the insight that the expert model is usually valid even outside the training domain, we overcome this limitation by introducing a hybrid data augmentation strategy termed expert augmentation. Based on a probabilistic formalization of hybrid modelling, we demonstrate that expert augmentation, which can be incorporated into existing hybrid systems, improves generalization. We empirically validate the expert augmentation on three controlled experiments modelling dynamical systems with ordinary and partial differential equations. Finally, we assess the potential real-world applicability of expert augmentation on a dataset of a real double pendulum. 
    more » « less