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Reinforcement learning provides a framework for learning control policies that can reproduce diverse motions for simulated characters. However, such policies often exploit unnatural high-frequency signals that are unachievable by humans or…
Deep Reinforcement Learning (DRL) has achieved remarkable advances in sequential decision tasks. However, recent works have revealed that DRL agents are susceptible to slight perturbations in observations. This vulnerability raises concerns…
A critical problem with the practical utility of controllers trained with deep Reinforcement Learning (RL) is the notable lack of smoothness in the actions learned by the RL policies. This trend often presents itself in the form of control…
Transient stability of power systems is becoming increasingly important because of the growing integration of renewable resources. These resources lead to a reduction in mechanical inertia but also provide increased flexibility in frequency…
Reinforcement learning (RL) is about sequential decision making and is traditionally opposed to supervised learning (SL) and unsupervised learning (USL). In RL, given the current state, the agent makes a decision that may influence the next…
This paper proposes a new design method for a stochastic control policy using a normalizing flow (NF). In reinforcement learning (RL), the policy is usually modeled as a distribution model with trainable parameters. When this…
In computer vision and natural language processing, innovations in model architecture that increase model capacity have reliably translated into gains in performance. In stark contrast with this trend, state-of-the-art reinforcement…
This paper addresses the challenge of terrain-adaptive dynamic locomotion in humanoid robots, a problem traditionally tackled by optimization-based methods or reinforcement learning (RL). Optimization-based methods, such as model-predictive…
Uncertainties in transition dynamics pose a critical challenge in reinforcement learning (RL), often resulting in performance degradation of trained policies when deployed on hardware. Many robust RL approaches follow two strategies:…
We investigate an entropy-regularized reinforcement learning (RL) approach to optimal stopping problems motivated by real option models. Classical stopping rules are strict and non-randomized, limiting natural exploration in RL settings. To…
Learning controllers that reproduce legged locomotion in nature has been a long-time goal in robotics and computer graphics. While yielding promising results, recent approaches are not yet flexible enough to be applicable to legged systems…
Reinforcement Learning (RL) has shown its remarkable and generalizable capability in legged locomotion through sim-to-real transfer. However, while adaptive methods like domain randomization are expected to enhance policy robustness across…
Legged robots navigating crowded scenes and complex terrains in the real world are required to execute dynamic leg movements while processing visual input for obstacle avoidance and path planning. We show that a quadruped robot can acquire…
Domain randomization has emerged as a fundamental technique in reinforcement learning (RL) to facilitate the transfer of policies from simulation to real-world robotic applications. Many existing domain randomization approaches have been…
Deep reinforcement learning (RL) can enable robots to autonomously acquire complex behaviors, such as legged locomotion. However, RL in the real world is complicated by constraints on efficiency, safety, and overall training stability,…
Deep Reinforcement Learning (Deep RL) has been receiving increasingly more attention thanks to its encouraging performance on a variety of control tasks. Yet, conventional regularization techniques in training neural networks (e.g., $L_2$…
Massively parallel simulation has reduced reinforcement learning (RL) training time for robots from days to minutes. However, achieving fast and reliable sim-to-real RL for humanoid control remains difficult due to the challenges introduced…
For the deployment of legged robots in real-world environments, it is essential to develop robust locomotion control methods for challenging terrains that may exhibit unexpected deformability and irregularity. In this paper, we explore the…
Simulation-based reinforcement learning (RL) has significantly advanced humanoid locomotion tasks, yet direct real-world RL from scratch or adapting from pretrained policies remains rare, limiting the full potential of humanoid robots.…
The success of deep learning relies on the availability of large-scale annotated data sets, the acquisition of which can be costly, requiring expert domain knowledge. Semi-supervised learning (SSL) mitigates this challenge by exploiting the…