Related papers: A Unified Approach for Multi-step Temporal-Differe…

Time-optimal path tracking, as a significant tool for industrial robots, has attracted the attention of numerous researchers. In most time-optimal path tracking problems, the actuator torque constraints are assumed to be conservative, which…

We propose a hybrid approach aimed at improving the sample efficiency in goal-directed reinforcement learning. We do this via a two-step mechanism where firstly, we approximate a model from Model-Free reinforcement learning. Then, we…

We consider the problem of finding the optimal value of n in the n-step temporal difference (TD) learning algorithm. Our objective function for the optimization problem is the average root mean squared error (RMSE). We find the optimal n by…

We propose a new reinforcement learning algorithm derived from a regularized linear-programming formulation of optimal control in MDPs. The method is closely related to the classic Relative Entropy Policy Search (REPS) algorithm of Peters…

Flow $Q$-learning has recently been introduced to integrate learning from expert demonstrations into an actor-critic structure. Central to this innovation is the ``the one-step policy'' network, which is optimized through a $Q$-function…

Modern deep reinforcement learning methods have departed from the incremental learning required for eligibility traces, rendering the implementation of the $\lambda$-return difficult in this context. In particular, off-policy methods that…

Multi-step temporal difference (TD) learning is an important approach in reinforcement learning, as it unifies one-step TD learning with Monte Carlo methods in a way where intermediate algorithms can outperform either extreme. They address…

In reinforcement learning, the TD($\lambda$) algorithm is a fundamental policy evaluation method with an efficient online implementation that is suitable for large-scale problems. One practical drawback of TD($\lambda$) is its sensitivity…

Reinforcement learning techniques achieved human-level performance in several tasks in the last decade. However, in recent years, the need for interpretability emerged: we want to be able to understand how a system works and the reasons…

Deep Q-Learning (DQL), a family of temporal difference algorithms for control, employs three techniques collectively known as the `deadly triad' in reinforcement learning: bootstrapping, off-policy learning, and function approximation.…

We introduce a dynamic neural algorithm called Dynamic Neural (DN) SARSA(\lambda) for learning a behavioral sequence from delayed reward. DN-SARSA(\lambda) combines Dynamic Field Theory models of behavioral sequence representation,…

In this paper, we present a novel algorithm named synchronous integral Q-learning, which is based on synchronous policy iteration, to solve the continuous-time infinite horizon optimal control problems of input-affine system dynamics. The…

This paper develops a sign-separated finite-time error analysis for constant step-size Q-learning. Starting from the switching-system representation, the error is decomposed into its componentwise negative and positive parts. The negative…

This paper motivates and develops source traces for temporal difference (TD) learning in the tabular setting. Source traces are like eligibility traces, but model potential histories rather than immediate ones. This allows TD errors to be…

Time-inhomogeneous finite-horizon Markov decision processes (MDP) are frequently employed to model decision-making in dynamic treatment regimes and other statistical reinforcement learning (RL) scenarios. These fields, especially healthcare…

Given a list of behaviors and associated parameterized controllers for solving different individual tasks, we study the problem of selecting an optimal sequence of coordinated behaviors in multi-robot systems for completing a given mission,…

Temporal difference learning (TD) is a simple iterative algorithm used to estimate the value function corresponding to a given policy in a Markov decision process. Although TD is one of the most widely used algorithms in reinforcement…

Reinforcement Learning (RL) can model complex behavior policies for goal-directed sequential decision making tasks. A hallmark of RL algorithms is Temporal Difference (TD) learning: value function for the current state is moved towards a…

In this paper, we propose a new solution to reward adaptation (RA) in reinforcement learning, where the agent adapts to a target reward function based on one or more existing source behaviors learned a priori under the same domain dynamics…

We consider a problem on the synthesis of reactive controllers that optimize some a priori unknown performance criterion while interacting with an uncontrolled environment such that the system satisfies a given temporal logic specification.…