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Offline reinforcement learning (RL) refers to the problem of learning policies entirely from a large batch of previously collected data. This problem setting offers the promise of utilizing such datasets to acquire policies without any…

Very recently proximal policy optimization (PPO) algorithms have been proposed as first-order optimization methods for effective reinforcement learning. While PPO is inspired by the same learning theory that justifies trust region policy…

Unmanned aerial vehicles (UAVs) are seen as a promising technology to perform a wide range of tasks in wireless communication networks. In this work, we consider the deployment of a group of UAVs to collect the data generated by IoT…

In a recent study, Reinforcement Learning (RL) used in combination with many-objective search, has been shown to outperform alternative techniques (random search and many-objective search) for online testing of Deep Neural Network-enabled…

Trust Region Policy Optimization (TRPO) and Proximal Policy Optimization (PPO) are among the most successful policy gradient approaches in deep reinforcement learning (RL). While these methods achieve state-of-the-art performance across a…

We propose a new family of policy gradient methods for reinforcement learning, which alternate between sampling data through interaction with the environment, and optimizing a "surrogate" objective function using stochastic gradient ascent.…

Reinforcement Learning (RL) provides a powerful framework for decision-making in complex environments. However, implementing RL in hardware-efficient and bio-inspired ways remains a challenge. This paper presents a novel Spiking Neural…

With dynamic pricing on the rise, firms are using sophisticated algorithms for price determination. These algorithms are often non-interpretable and there has been a recent interest in their seemingly emergent ability to tacitly collude…

Bootstrapping large language models (LLMs) through preference-based policy optimization offers a promising direction for aligning model behavior with human preferences without relying on extensive manual annotations. In this work, we…

On-policy reinforcement learning (RL) algorithms are widely used for their strong asymptotic performance and training stability, but they struggle to scale with larger batch sizes, as additional parallel environments yield redundant data…

Many state-of-the art robotic applications utilize series elastic actuators (SEAs) with closed-loop force control to achieve complex tasks such as walking, lifting, and manipulation. Model-free PID control methods are more prone to…

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…

Proximal policy optimization (PPO) is one of the most popular deep reinforcement learning (RL) methods, achieving state-of-the-art performance across a wide range of challenging tasks. However, as a model-free RL method, the success of PPO…

This paper addresses the problem of developing an algorithm for autonomous ship landing of vertical take-off and landing (VTOL) capable unmanned aerial vehicles (UAVs), using only a monocular camera in the UAV for tracking and localization.…

Model-free reinforcement learning algorithms have seen remarkable progress, but key challenges remain. Trust Region Policy Optimization (TRPO) is known for ensuring monotonic policy improvement through conservative updates within a trust…

Recent breakthroughs both in reinforcement learning and trajectory optimization have made significant advances towards real world robotic system deployment. Reinforcement learning (RL) can be applied to many problems without needing any…

Backpropagation (BP) of errors is the backbone training algorithm for artificial neural networks (ANNs). It updates network weights through gradient descent to minimize a loss function representing the mismatch between predictions and…

After an earthquake, it is particularly important to provide the necessary resources on site because a large number of infrastructures need to be repaired or newly constructed. Due to the complex construction environment after the disaster,…

In this paper, we investigate a novel digital network twin (DNT) assisted deep learning (DL) model training framework. In particular, we consider a physical network where a base station (BS) uses several antennas to serve multiple mobile…

Reducing operation and maintenance costs is a key objective for advanced reactors in general and microreactors in particular. To achieve this reduction, developing robust autonomous control algorithms is essential to ensure safe and…