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Reinforcement learning (RL) promises a framework for near-universal problem-solving. In practice however, RL algorithms are often tailored to specific benchmarks, relying on carefully tuned hyperparameters and algorithmic choices. Recently,…

This work shows that value-aware model learning, known for its numerous theoretical benefits, is also practically viable for solving challenging continuous control tasks in prevalent model-based reinforcement learning algorithms. First, we…

Accurately predicting the dynamics of robotic systems is crucial for model-based control and reinforcement learning. The most common way to estimate dynamics is by fitting a one-step ahead prediction model and using it to recursively…

A data-efficient learning-based control design method is proposed in this paper. It is based on learning a system dynamics model that is then leveraged in a two-level procedure. On the higher level, a simple but powerful optimization…

The real world is unpredictable. Therefore, to solve long-horizon decision-making problems with autonomous robots, we must construct agents that are capable of adapting to changes in the environment during deployment. Model-based planning…

Reinforcement Learning (RL) serves as a versatile framework for sequential decision-making, finding applications across diverse domains such as robotics, autonomous driving, recommendation systems, supply chain optimization, biology,…

Recent breakthroughs in Go play and strategic games have witnessed the great potential of reinforcement learning in intelligently scheduling in uncertain environment, but some bottlenecks are also encountered when we generalize this…

Model-based Reinforcement Learning (MBRL) allows data-efficient learning which is required in real world applications such as robotics. However, despite the impressive data-efficiency, MBRL does not achieve the final performance of…

Predictive autoscaling (autoscaling with workload forecasting) is an important mechanism that supports autonomous adjustment of computing resources in accordance with fluctuating workload demands in the Cloud. In recent works, Reinforcement…

A Reinforcement Learning (RL) system depends on a set of initial conditions (hyperparameters) that affect the system's performance. However, defining a good choice of hyperparameters is a challenging problem. Hyperparameter tuning often…

Reinforcement learning (RL) algorithms have demonstrated promising results on complex tasks, yet often require impractical numbers of samples since they learn from scratch. Meta-RL aims to address this challenge by leveraging experience…

Model-based reinforcement learning (MBRL) is believed to have much higher sample efficiency compared to model-free algorithms by learning a predictive model of the environment. However, the performance of MBRL highly relies on the quality…

Learning models of the environment from pure interaction is often considered an essential component of building lifelong reinforcement learning agents. However, the common practice in model-based reinforcement learning is to learn models…

Deploying controllers trained with Reinforcement Learning (RL) on real robots can be challenging: RL relies on agents' policies being modeled as Markov Decision Processes (MDPs), which assume an inherently discrete passage of time. The use…

A major challenge of reinforcement learning (RL) in real-world applications is the variation between environments, tasks or clients. Meta-RL (MRL) addresses this issue by learning a meta-policy that adapts to new tasks. Standard MRL methods…

Model-based approaches for planning and control for bipedal locomotion have a long history of success. It can provide stability and safety guarantees while being effective in accomplishing many locomotion tasks. Model-free reinforcement…

Model predictive control (MPC) is a powerful trajectory optimization control technique capable of controlling complex nonlinear systems while respecting system constraints and ensuring safe operation. The MPC's capabilities come at the cost…

Reinforcement learning algorithms can acquire policies for complex tasks autonomously. However, the number of samples required to learn a diverse set of skills can be prohibitively large. While meta-reinforcement learning methods have…

Several applications in the scientific simulation of physical systems can be formulated as control/optimization problems. The computational models for such systems generally contain hyperparameters, which control solution fidelity and…

Meta-learning is a branch of machine learning which aims to synthesize data from a distribution of related tasks to efficiently solve new ones. In process control, many systems have similar and well-understood dynamics, which suggests it is…