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Reinforcement Learning (RL) has presented an impressive performance in video games through raw pixel imaging and continuous control tasks. However, RL performs poorly with high-dimensional observations such as raw pixel images. It is…
In the field of optics, precise control of light with arbitrary spatial resolution has long been a sought-after goal. Freeform nanophotonic devices are critical building blocks for achieving this goal, as they provide access to a design…
Preference-based reinforcement learning (PbRL) provides a powerful paradigm to avoid meticulous reward engineering by learning rewards based on human preferences. However, real-time human feedback is hard to obtain in online tasks. Most…
Ring attractors, mathematical models inspired by neural circuit dynamics, provide a biologically plausible mechanism to improve learning speed and accuracy in Reinforcement Learning (RL). Serving as specialized brain-inspired structures…
In this paper we introduce the first reinforcement learning (RL) based robotic navigation method which utilizes ultrasound (US) images as an input. Our approach combines state-of-the-art RL techniques, specifically deep Q-networks (DQN)…
Reinforcement Learning (RL) has the potential to surpass human performance in driving without needing any expert supervision. Despite its promise, the state-of-the-art in sensorimotor self-driving is dominated by imitation learning methods…
Reinforcement learning (RL) promises to enable autonomous acquisition of complex behaviors for diverse agents. However, the success of current reinforcement learning algorithms is predicated on an often under-emphasised requirement -- each…
Deep learning has shown strong potential in modeling complex spatiotemporal dynamics. However, most existing methods depend on densely and uniformly sampled data, which is often unavailable in practice due to sensor and cost limitations. In…
Learning efficient and interpretable policies has been a challenging task in reinforcement learning (RL), particularly in the visual RL setting with complex scenes. While neural networks have achieved competitive performance, the resulting…
Modern autonomous drone missions increasingly require software frameworks capable of seamlessly integrating structured symbolic planning with adaptive reinforcement learning (RL). Although traditional rule-based architectures offer robust…
Linear control models have gained extensive application in vehicle control due to their simplicity, ease of use, and support for stability analysis. However, these models lack adaptability to the changing environment and multi-objective…
Deep reinforcement learning (DRL) has seen several successful applications to process control. Common methods rely on a deep neural network structure to model the controller or process. With increasingly complicated control structures, the…
Effective prompt engineering remains a central challenge in fully harnessing the capabilities of LLMs. While well-designed prompts can dramatically enhance performance, crafting them typically demands expert intuition and a nuanced…
Deep Reinforcement Learning (deep RL) has made several breakthroughs in recent years in applications ranging from complex control tasks in unmanned vehicles to game playing. Despite their success, deep RL still lacks several important…
This paper presents a deep reinforcement learning (DRL) algorithm for orientation estimation using inertial sensors combined with magnetometer. The Lyapunov method in control theory is employed to prove the convergence of orientation…
Object pushing presents a key non-prehensile manipulation problem that is illustrative of more complex robotic manipulation tasks. While deep reinforcement learning (RL) methods have demonstrated impressive learning capabilities using…
This paper proposes an exploration-efficient Deep Reinforcement Learning with Reference policy (DRLR) framework for learning robotics tasks that incorporates demonstrations. The DRLR framework is developed based on an algorithm called…
In this paper, a deep reinforcement learning (DRL) method is proposed to address the problem of UAV navigation in an unknown environment. However, DRL algorithms are limited by the data efficiency problem as they typically require a huge…
The learning inefficiency of reinforcement learning (RL) from scratch hinders its practical application towards continuous robotic tracking control, especially for high-dimensional robots. This work proposes a data-informed residual…
Large language models (LLMs) often struggle to use tools reliably in domain-specific settings, where APIs may be idiosyncratic, under-documented, or tailored to private workflows. This highlights the need for effective adaptation to…