Related papers: Practical Probabilistic Model-based Deep Reinforce…
In dynamic programming (DP) and reinforcement learning (RL), an agent learns to act optimally in terms of expected long-term return by sequentially interacting with its environment modeled by a Markov decision process (MDP). More generally…
Reinforcement Learning (RL) has achieved impressive results in robotics, yet high-performing pipelines remain highly task-specific, with little reuse of prior data. Offline Model-based RL (MBRL) offers greater data efficiency by training…
Deep reinforcement learning (DRL) algorithms require substantial samples and computational resources to achieve higher performance, which restricts their practical application and poses challenges for further development. Given the…
Deep neural networks (NNs) are known for their high-prediction performances. However, NNs are prone to yield unreliable predictions when encountering completely new situations without indicating their uncertainty. Bayesian variants of NNs…
The ability to direct a Probabilistic Boolean Network (PBN) to a desired state is important to applications such as targeted therapeutics in cancer biology. Reinforcement Learning (RL) has been proposed as a framework that solves a…
Model-based reinforcement learning attempts to use an available or learned model to improve the data efficiency of reinforcement learning. This work proposes a one-step lookback approach that jointly learns the deep incremental model and…
Learning-based control aims to construct models of a system to use for planning or trajectory optimization, e.g. in model-based reinforcement learning. In order to obtain guarantees of safety in this context, uncertainty must be accurately…
This paper shows that dropout training in Generalized Linear Models is the minimax solution of a two-player, zero-sum game where an adversarial nature corrupts a statistician's covariates using a multiplicative nonparametric…
Deep learning methods have shown great promise in many practical applications, ranging from speech recognition, visual object recognition, to text processing. However, most of the current deep learning methods suffer from scalability…
Ensemble models are powerful model building tools that are developed with a focus to improve the accuracy of model predictions. They find applications in time series forecasting in varied scenarios including but not limited to process…
Monte Carlo (MC) dropout is a simple and efficient ensembling method that can improve the accuracy and confidence calibration of high-capacity deep neural network models. However, MC dropout is not as effective as more compute-intensive…
This paper investigates model robustness in reinforcement learning (RL) to reduce the sim-to-real gap in practice. We adopt the framework of distributionally robust Markov decision processes (RMDPs), aimed at learning a policy that…
Pick-and-place (PnP) operations, featuring object grasping and trajectory planning, are fundamental in industrial robotics applications. Despite many advancements in the field, PnP is limited by workspace constraints, reducing flexibility.…
Reinforcement learning (RL) struggles to scale to large, combinatorial action spaces common in many real-world problems. This paper introduces a novel framework for training discrete diffusion models as highly effective policies in these…
The training phases of Deep neural network~(DNN) consumes enormous processing time and energy. Compression techniques utilizing the sparsity of DNNs can effectively accelerate the inference phase of DNNs. However, it can be hardly used in…
Constrained reinforcement learning is to maximize the expected reward subject to constraints on utilities/costs. However, the training environment may not be the same as the test one, due to, e.g., modeling error, adversarial attack,…
Deep neural networks have achieved substantial achievements in several computer vision areas, but have vulnerabilities that are often fooled by adversarial examples that are not recognized by humans. This is an important issue for security…
This letter presents contact-safe Model-based Reinforcement Learning (MBRL) for robot applications that achieves contact-safe behaviors in the learning process. In typical MBRL, we cannot expect the data-driven model to generate accurate…
Deep reinforcement learning (DRL) is a machine learning-based method suited for complex and high-dimensional control problems. In this study, a real-time control system based on DRL is developed for long-term voltage stability events. The…
Deep reinforcement learning (DRL) is a promising approach for developing legged locomotion skills. However, the iterative design process that is inevitable in practice is poorly supported by the default methodology. It is difficult to…