Related papers: Entropy-Guided Control Improvisation
Willems' fundamental lemma and system level synthesis both characterize a linear dynamic system by its input/output sequences. In this work, we extend the application of the fundamental lemma from deterministic to uncertain LTI systems and…
Reasoning ability has become a defining capability of Large Language Models (LLMs), with Reinforcement Learning with Verifiable Rewards (RLVR) emerging as a key paradigm to enhance it. However, RLVR training often suffers from policy…
Modeling the purposeful behavior of imperfect agents from a small number of observations is a challenging task. When restricted to the single-agent decision-theoretic setting, inverse optimal control techniques assume that observed behavior…
In this paper, a safe and learning-based control framework for model predictive control (MPC) is proposed to optimize nonlinear systems with a non-differentiable objective function under uncertain environmental disturbances. The control…
We investigate an entropy-regularized reinforcement learning (RL) approach to optimal stopping problems motivated by real option models. Classical stopping rules are strict and non-randomized, limiting natural exploration in RL settings. To…
Generative models have the ability to synthesize data points drawn from the data distribution, however, not all generated samples are high quality. In this paper, we propose using a combination of coresets selection methods and ``entropic…
Event-triggered model predictive control (eMPC) is a popular optimal control method with an aim to alleviate the computation and/or communication burden of MPC. However, it generally requires priori knowledge of the closed-loop system…
Cross-entropy method model predictive control (CEM--MPC) is a powerful gradient-free technique for nonlinear optimal control, but its performance is often limited by the reliance on random sampling. This conventional approach can lead to…
Deep networks have enabled reinforcement learning to scale to more complex and challenging domains, but these methods typically require large quantities of training data. An alternative is to use sample-efficient episodic control methods:…
Ergodicity and output controllability have been shown to be fundamental concepts for the analysis and synthetic design of closed-loop stochastic reaction networks, as exemplified by the use of antithetic integral feedback controllers. In…
Optimal control of stochastic nonlinear dynamical systems is a major challenge in the domain of robot learning. Given the intractability of the global control problem, state-of-the-art algorithms focus on approximate sequential optimization…
Large Language Models (LLMs) have shown promise as intelligent agents in interactive decision-making tasks. Traditional approaches often depend on meticulously designed prompts, high-quality examples, or additional reward models for…
The performance of model-based control techniques strongly depends on the quality of the employed dynamics model. If strong guarantees are desired, it is therefore common to robustly treat all possible sources of uncertainty, such as model…
Two-player games are a fruitful way to represent and reason about several important synthesis tasks. These tasks include controller synthesis (where one asks for a controller for a given plant such that the controlled plant satisfies a…
The option-critic architecture (Bacon, Harb, and Precup 2017) and several variants have successfully demonstrated the use of the options framework proposed by Sutton et al (Sutton, Precup, and Singh1999) to scale learning and planning in…
With the increasing pace of automation, modern robotic systems need to act in stochastic, non-stationary, partially observable environments. A range of algorithms for finding parameterized policies that optimize for long-term average…
Generalising the idea of the classical EM algorithm that is widely used for computing maximum likelihood estimates, we propose an EM-Control (EM-C) algorithm for solving multi-period finite time horizon stochastic control problems. The new…
We propose ERA, a new paradigm that constrains the sampling entropy above given thresholds by applying specially designed activations to the outputs of models. Our approach demonstrates broad effectiveness across different domains: 1) for…
Reinforcement Learning with Verifiable Rewards (RLVR) serves as a cornerstone technique for enhancing the reasoning capabilities of Large Language Models (LLMs). However, its training is often plagued by \emph{entropy collapse}, a rapid…
We study best-policy identification for finite-horizon risk-sensitive reinforcement learning under the entropic risk measure. Recent work established a constant gap in the exponential horizon dependence between lower and upper bounds on the…