Related papers: Coordinating Planning and Tracking in Layered Cont…

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…

Reinforcement learning (RL) agents are powerful tools for managing power grids. They use large amounts of data to inform their actions and receive rewards or penalties as feedback to learn favorable responses for the system. Once trained,…

While deep reinforcement learning (RL) methods have achieved unprecedented successes in a range of challenging problems, their applicability has been mainly limited to simulation or game domains due to the high sample complexity of the…

Solving robotic navigation tasks via reinforcement learning (RL) is challenging due to their sparse reward and long decision horizon nature. However, in many navigation tasks, high-level (HL) task representations, like a rough floor plan,…

We propose a novel hierarchical reinforcement learning framework for quadruped locomotion over challenging terrain. Our approach incorporates a two-layer hierarchy in which a high-level policy (HLP) selects optimal goals for a low-level…

Reinforcement learning (RL) has significantly advanced the control of physics-based and robotic characters that track kinematic reference motion. However, methods typically rely on a weighted sum of conflicting reward functions, requiring…

In this paper, a continuous-time adaptive actor-critic reinforcement learning (RL) controller is developed for drift-free nonlinear systems. Practical examples of such systems are image-based visual servoing (IBVS) and wheeled mobile robots…

Conventional reinforcement learning (RL) allows an agent to learn policies via environmental rewards only, with a long and slow learning curve, especially at the beginning stage. On the contrary, human learning is usually much faster…

We solve active target tracking, one of the essential tasks in autonomous systems, using a deep reinforcement learning (RL) approach. In this problem, an autonomous agent is tasked with acquiring information about targets of interests using…

In this paper we propose a framework towards achieving two intertwined objectives: (i) equipping reinforcement learning with active exploration and deliberate information gathering, such that it regulates state and parameter uncertainties…

Bike-sharing systems (BSS) provide a sustainable urban mobility solution, but ensuring their reliability requires effective rebalancing strategies to address stochastic demand and prevent station imbalances. This paper proposes…

Given a list of behaviors and associated parameterized controllers for solving different individual tasks, we study the problem of selecting an optimal sequence of coordinated behaviors in multi-robot systems for completing a given mission,…

With the continuous growth in communication network complexity and traffic volume, communication load balancing solutions are receiving increasing attention. Specifically, reinforcement learning (RL)-based methods have shown impressive…

Optimization problems over dynamic networks have been extensively studied and widely used in the past decades to formulate numerous real-world problems. However, (1) traditional optimization-based approaches do not scale to large networks,…

Recent successes of Reinforcement Learning (RL) allow an agent to learn policies that surpass human experts but suffers from being time-hungry and data-hungry. By contrast, human learning is significantly faster because prior and general…

In recent years, Reinforcement Learning (RL) has been applied to real-world problems with increasing success. Such applications often require to put constraints on the agent's behavior. Existing algorithms for constrained RL (CRL) rely on…

Deep reinforcement learning (RL) algorithms can use high-capacity deep networks to learn directly from image observations. However, these high-dimensional observation spaces present a number of challenges in practice, since the policy must…

This paper seeks to combine differential game theory with the actor-critic-identifier architecture to determine forward-in-time, approximate optimal controllers for formation tracking in multi-agent systems, where the agents have uncertain…

Reinforcement Learning (RL) is a learning paradigm concerned with learning to control a system so as to maximize an objective over the long term. This approach to learning has received immense interest in recent times and success manifests…

We present theoretical and numerical results concerning the problem to find the path that minimizes the time to navigate between two given points in a complex fluid under realistic navigation constraints. We contrast deterministic Optimal…