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High-precision displacement control for water-hydraulic artificial muscles is a challenging issue due to its strong hysteresis characteristics that is hard to be modelled precisely, and many control methods have been proposed. Recently, data-driven control methods have attracted much attention because they do not explicitly use mathematical models, making design much easier. In our previous work, we proposed fictitious reference iterative tuning (FRIT)-based model predictive control (FMPC), which combines data-driven and model-based methods for the muscle and showed its effectiveness because it can consider input constraints as well. However, the problem in which control performance strongly depends on prior input-output data remains still unsolved. Adaptive FRIT based on directional forgetting has also been proposed; however, it is difficult to achieve the desired transient performance because it cannot consider input constraints and there are no design parameters that directly determine the control performance, such as MPC. In this study, we propose a novel data-driven adaptive model matching-based controller that combines these methods. Experimental results show that the proposed method could significantly improve the control performance and achieve high robustness against inappropriate initial experimental data , while considering the input constraints in the design phase., Comment: 14 pages, 17 figures

This paper employs a reinforcement learning-based model identification method aimed at enhancing the accuracy of the dynamics for our snake robot, called COBRA. Leveraging gradient information and iterative optimization, the proposed approach refines the parameters of COBRA's dynamical model such as coefficient of friction and actuator parameters using experimental and simulated data. Experimental validation on the hardware platform demonstrates the efficacy of the proposed approach, highlighting its potential to address sim-to-real gap in robot implementation.

This work employs a reinforcement learning-based model identification method aimed at enhancing the accuracy of the dynamics for our snake robot, called COBRA. Leveraging gradient information and iterative optimization, the proposed approach refines the parameters of COBRA's dynamical model such as coefficient of friction and actuator parameters using experimental and simulated data. Experimental validation on the hardware platform demonstrates the efficacy of the proposed approach, highlighting its potential to address sim-to-real gap in robot implementation.

We consider scenarios where a very accurate predictive model using restricted features is available at the time of training of a larger, full-featured, model. This restricted model may be thought of as "side-information", derived either from an auxiliary exhaustive dataset or on the same dataset, by forcing the restriction. How can the restricted model be useful to the full model? We propose an approach for transferring the knowledge of the restricted model to the full model, by aligning the full model's context-restricted performance with that of the restricted model's. We call this methodology Induced Model Matching (IMM) and first illustrate its general applicability by using logistic regression as a toy example. We then explore IMM's use in language modeling, the application that initially inspired it, and where it offers an explicit foundation in contrast to the implicit use of restricted models in techniques such as noising. We demonstrate the methodology on both LSTM and transformer full models, using $N$-grams as restricted models. To further illustrate the potential of the principle whenever it is much cheaper to collect restricted rather than full information, we conclude with a simple RL example where POMDP policies can improve learned MDP policies via IMM.

Telepresence aims to create an immersive but virtual experience of the audio and visual scene at the far end for users at the near end. In this contribution, we propose an array-based binaural rendering system that converts the array microphone signals into the head-related transfer function (HRTF) filtered output signals for headphone-rendering. The proposed approach is formulated in light of a model-matching principle (MMP) and is capable of delivering more immersive experience than the conventional localization-beamforming-HRTF filtering (LBH) approach. The MMP-based rendering system can be realized via multichannel inverse filtering (MIF) and multichannel deep filtering (MDF). In this study, we adopted the MDF approach and used the LBH as well as MIF as the baselines. The all-neural system jointly captures the spatial information (spatial rendering), preserves ambient sound (enhancement), and reduces noise (enhancement) before generating binaural outputs. Objective and subjective tests are employed to compare the proposed telepresence system with two baselines., Comment: accepted by ICASSP 2023

Open Radio Access Network (O-RAN) is an emerging paradigm, whereby virtualized network infrastructure elements from different vendors communicate via open, standardized interfaces. A key element therein is the RAN Intelligent Controller (RIC), an Artificial Intelligence (AI)-based controller. Traditionally, all data available in the network has been used to train a single AI model to be used at the RIC. This paper introduces, discusses, and evaluates the creation of multiple AI model instances at different RICs, leveraging information from some (or all) locations for their training. This brings about a flexible relationship between gNBs, the AI models used to control them, and the data such models are trained with. Experiments with real-world traces show how using multiple AI model instances that choose training data from specific locations improve the performance of traditional approaches following the hoarding strategy.