Related papers: Beyond PID Controllers: PPO with Neuralized PID Po…

Reinforcement learning algorithms such as group-relative policy optimization (GRPO) have shown strong potential for improving the mathematical reasoning capabilities of large language models. While a growing body of work seeks to improve…

Mode-dependent architectural components (layers that behave differently during training and evaluation, such as Batch Normalization or dropout) are commonly used in visual reinforcement learning but can destabilize on-policy optimization.…

Existing multi-agent PPO algorithms lack compatibility with different types of parameter sharing when extending the theoretical guarantee of PPO to cooperative multi-agent reinforcement learning (MARL). In this paper, we propose a novel and…

We present progress on the development of a machine learning (ML) regulation system for third-order resonant extraction of the beam delivered to the Mu2e experiment at Fermilab. We consider classical and ML-based controllers optimized on…

Regulating the importance ratio is critical for the training stability of Group Relative Policy Optimization (GRPO) based frameworks. However, prevailing ratio control methods, such as hard clipping, suffer from non-differentiable…

To obtain a near-optimal policy with fewer interactions in Reinforcement Learning (RL), a promising approach involves the combination of offline RL, which enhances sample efficiency by leveraging offline datasets, and online RL, which…

Constrained Reinforcement Learning (RL) aims to maximize the return while adhering to predefined constraint limits, which represent domain-specific safety requirements. In continuous control settings, where learning agents govern system…

Residual policy learning (RPL), in which a learned policy refines a static base policy using deep reinforcement learning (DRL), has shown strong performance across various robotic applications. Its effectiveness is particularly evident in…

The policy represented by the deep neural network can overfit the spurious features in observations, which hamper a reinforcement learning agent from learning effective policy. This issue becomes severe in high-dimensional state, where the…

Reinforcement learning with verifiable rewards (RLVR), due to the deterministic verification, becomes a dominant paradigm for enhancing the reasoning ability of large language models (LLMs). The community witnesses the rapid change from the…

We present ZSL-RPPO, an improved zero-shot learning architecture that overcomes the limitations of teacher-student neural networks and enables generating robust, reliable, and versatile locomotion for quadrupedal robots in challenging…

This study investigates cooperation evolution mechanisms in the spatial public goods game. A novel deep reinforcement learning framework, Proximal Policy Optimization with Adversarial Curriculum Transfer (PPO-ACT), is proposed to model…

Proximal Policy Optimization (PPO) dominates reinforcement learning and LLM alignment but relies on a "hard clipping" mechanism that discards valuable gradients. Conversely, unconstrained methods like SPO expose the optimization to…

In various game scenarios, selecting a fixed number of targets from multiple enemy units is an extremely challenging task. This difficulty stems from the complex relationship between the threat levels of enemy units and their feature…

Optimizing the fuel cycle cost through the optimization of nuclear reactor core loading patterns involves multiple objectives and constraints, leading to a vast number of candidate solutions that cannot be explicitly solved. To advance the…

Recent successful deep reinforcement learning algorithms, such as Trust Region Policy Optimization (TRPO) or Proximal Policy Optimization (PPO), are fundamentally variations of conservative policy iteration (CPI). These algorithms iterate…

This paper proposes the application of fractional-order PID (FOPID) controller for output voltage control of boost converters. For this purpose, parameters of the FOPID controller are calculated such that the Integral Absolute Error (IAE)…

Unmanned aerial vehicles serving as aerial base stations can rapidly restore connectivity after disasters, yet abrupt changes in user mobility and traffic demands shift the quality of service trade-offs and induce strong non-stationarity.…

Recent theoretical work studies sample-efficient reinforcement learning (RL) extensively in two settings: learning interactively in the environment (online RL), or learning from an offline dataset (offline RL). However, existing algorithms…

Motion planning is an essential part of autonomous mobile platforms. A good pipeline should be modular enough to handle different vehicles, environments, and perception modules. The planning process has to cope with all the different…