Related papers: CACTO: Continuous Actor-Critic with Trajectory Opt…

Reinforcement Learning (RL) is a powerful method for controlling dynamic systems, but its learning mechanism can lead to unpredictable actions that undermine the safety of critical systems. Here, we propose RL with Adaptive Regularization…

Model-based algorithms, which learn a dynamics model from logged experience and perform some sort of pessimistic planning under the learned model, have emerged as a promising paradigm for offline reinforcement learning (offline RL).…

This paper introduces DiffTORI, which utilizes Differentiable Trajectory Optimization as the policy representation to generate actions for deep Reinforcement and Imitation learning. Trajectory optimization is a powerful and widely used…

Sequential Convex Programming (SCP) has recently seen a surge of interest as a tool for trajectory optimization. However, most available methods lack rigorous performance guarantees and they are often tailored to specific optimal control…

Offline reinforcement learning agents face significant deployment challenges due to the synthetic-to-real distribution mismatch. While most prior research has focused on improving the fidelity of synthetic sampling and incorporating…

Reinforcement Learning (RL) for constrained MDPs (CMDPs) is an increasingly important problem for various applications. Often, the average criterion is more suitable than the discounted criterion. Yet, RL for average-CMDPs (ACMDPs) remains…

Chain-of-Thought (CoT) prompting has recently shown significant promise across various NLP and computer vision tasks by explicitly generating intermediate reasoning steps. However, we find that reinforcement learning (RL)-based fine-tuned…

Reinforcement learning, mathematically described by Markov Decision Problems, may be approached either through dynamic programming or policy search. Actor-critic algorithms combine the merits of both approaches by alternating between steps…

Contact-implicit trajectory optimization (CITO) has attracted growing attention as a unified framework for planning and control in contact-rich robotic tasks. Recent approaches have demonstrated promising results in manipulation and…

Offline reinforcement learning (RL) aims to learn policies without online explorations. To enlarge the training data, model-based offline RL learns a dynamics model which is utilized as a virtual environment to generate simulation data and…

Conventional Reinforcement Learning (RL) algorithms usually have one single agent learning to solve the task independently. As a result, the agent can only explore a limited part of the state-action space while the learned behavior is…

This work considers the problem of learning cooperative policies in multi-agent settings with partially observable and non-stationary environments without a communication channel. We focus on improving information sharing between agents and…

Offline-to-online reinforcement learning (RL), by combining the benefits of offline pretraining and online finetuning, promises enhanced sample efficiency and policy performance. However, existing methods, effective as they are, suffer from…

Temporal logic is a concise way of specifying complex tasks. But motion planning to achieve temporal logic specifications is difficult, and existing methods struggle to scale to complex specifications and high-dimensional system dynamics.…

Constrained Reinforcement Learning (CRL) is a subset of machine learning that introduces constraints into the traditional reinforcement learning (RL) framework. Unlike conventional RL which aims solely to maximize cumulative rewards, CRL…

Offline Reinforcement Learning (RL) relies on policy constraints to mitigate extrapolation error, where both the constraint form and constraint strength critically shape performance. However, most existing methods commit to a single…

In current model-free reinforcement learning (RL) algorithms, stability criteria based on sampling methods are commonly utilized to guide policy optimization. However, these criteria only guarantee the infinite-time convergence of the…

Fast and efficient transport protocols are the foundation of an increasingly distributed world. The burden of continuously delivering improved communication performance to support next-generation applications and services, combined with the…

Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the…

Sequential recommendation, where user preference is dynamically inferred from sequential historical behaviors, is a critical task in recommender systems (RSs). To further optimize long-term user engagement, offline…