Relearn LQR combines recursive least squares with policy gradient for on-policy data-driven LQR and proves stability of the full scheme via Lyapunov analysis with averaging and timescale separation.
A tour of reinforcement learning: The view from continuous control
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An external runtime governance layer for embodied agents intercepts unauthorized actions at ~96% and recovers from runtime drift at ~91% under policy constraints in simulation, outperforming pre-execution-only baselines on continuous detection and recovery.
citing papers explorer
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Stability-Certified On-Policy Data-Driven LQR via Recursive Learning and Policy Gradient
Relearn LQR combines recursive least squares with policy gradient for on-policy data-driven LQR and proves stability of the full scheme via Lyapunov analysis with averaging and timescale separation.
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Harnessing Embodied Agents: Runtime Governance for Policy-Constrained Execution
An external runtime governance layer for embodied agents intercepts unauthorized actions at ~96% and recovers from runtime drift at ~91% under policy constraints in simulation, outperforming pre-execution-only baselines on continuous detection and recovery.