Related papers: Efficient Reinforcement Learning Using Recursive L…
This paper addresses the problem of model-free reinforcement learning for Robust Markov Decision Process (RMDP) with large state spaces. The goal of the RMDP framework is to find a policy that is robust against the parameter uncertainties…
This work develops a robust diffusion recursive least squares algorithm to mitigate the performance degradation often experienced in networks of agents in the presence of impulsive noise. This algorithm minimizes an exponentially weighted…
This paper addresses the problem of learning optimal control policies for systems with uncertain dynamics and high-level control objectives specified as Linear Temporal Logic (LTL) formulas. Uncertainty is considered in the workspace…
Reinforcement learning (RL) faces substantial challenges when applied to real-life problems, primarily stemming from the scarcity of available data due to limited interactions with the environment. This limitation is exacerbated by the fact…
We develop a recursive least square (RLS) type algorithm with a minimax concave penalty (MCP) for adaptive identification of a sparse tap-weight vector that represents a communication channel. The proposed algorithm recursively yields its…
Respondent-driven sampling (RDS) is widely used to study hidden or hard-to-reach populations by incentivizing study participants to recruit their social connections. The success and efficiency of RDS can depend critically on the nature of…
The least squares of depth-trimmed (LST) residuals regression, proposed and studied in Zuo and Zuo (2023), serves as a robust alternative to the classic least squares (LS) regression as well as a strong competitor to the renowned robust…
The iteratively reweighted least squares method (IRLS) is a popular technique used in practice for solving regression problems. Various versions of this method have been proposed, but their theoretical analyses failed to capture the good…
Reinforcement learning (RL) depends critically on the choice of reward functions used to capture the de- sired behavior and constraints of a robot. Usually, these are handcrafted by a expert designer and represent heuristics for relatively…
Reinforcement learning (RL) problems are fundamental in online decision-making and have been instrumental in finding an optimal policy for Markov decision processes (MDPs). Function approximations are usually deployed to handle large or…
Symmetry is pervasive in robotics and has been widely exploited to improve sample efficiency in deep reinforcement learning (DRL). However, existing approaches primarily focus on spatial symmetries, such as reflection, rotation, and…
To overcome the curses of dimensionality and modeling of Dynamic Programming (DP) methods to solve Markov Decision Process (MDP) problems, Reinforcement Learning (RL) methods are adopted in practice. Contrary to traditional RL algorithms…
While numerous works have focused on devising efficient algorithms for reinforcement learning (RL) with uniformly bounded rewards, it remains an open question whether sample or time-efficient algorithms for RL with large state-action space…
In many real-world reinforcement learning (RL) problems, the environment exhibits inherent symmetries that can be exploited to improve learning efficiency. This paper develops a theoretical and algorithmic framework for incorporating known…
Deep reinforcement learning (deep RL) has been successful in learning sophisticated behaviors automatically; however, the learning process requires a huge number of trials. In contrast, animals can learn new tasks in just a few trials,…
Reinforcement learning (RL) has emerged as a promising strategy for improving the reasoning capabilities of language models (LMs) in domains such as mathematics and coding. However, most modern RL algorithms were designed to target robotics…
The reduced-rank method exploits the distortion-variance tradeoff to yield superior solutions for classic problems in statistical signal processing such as parameter estimation and filtering. The central idea is to reduce the variance of…
This paper fortifies the recently introduced hierarchical-optimization recursive least squares (HO-RLS) against outliers which contaminate infrequently linear-regression models. Outliers are modeled as nuisance variables and are estimated…
Reinforcement Learning (RL) is a method for learning decision-making tasks that could enable robots to learn and adapt to their situation on-line. For an RL algorithm to be practical for robotic control tasks, it must learn in very few…
Embodied foundation models are crucial for Artificial Intelligence (AI) interacting with the physical world by integrating multi-modal inputs, such as proprioception, vision and language, to understand human intentions and generate actions…