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Proximal Policy Optimization (PPO) is a popular model-free reinforcement learning algorithm, esteemed for its simplicity and efficacy. However, due to its inherent on-policy nature, its proficiency in harnessing data from disparate policies…

Safe reinforcement learning aims to learn the optimal policy while satisfying safety constraints, which is essential in real-world applications. However, current algorithms still struggle for efficient policy updates with hard constraint…

This paper focuses on the active flow control of a computational fluid dynamics simulation over a range of Reynolds numbers using deep reinforcement learning (DRL). More precisely, the proximal policy optimization (PPO) method is used to…

Controlling autonomous vehicles at their handling limits is a significant challenge, particularly for electric vehicles with active four wheel drive (A4WD) systems offering independent wheel torque control. While traditional Vehicle…

Offline reinforcement learning (RL) is a challenging setting where existing off-policy actor-critic methods perform poorly due to the overestimation of out-of-distribution state-action pairs. Thus, various additional augmentations are…

Model predictive control (MPC) is an effective method for controlling robotic systems, particularly autonomous aerial vehicles such as quadcopters. However, application of MPC can be computationally demanding, and typically requires…

A policy for six-degree-of-freedom docking maneuvers is developed through reinforcement learning and implemented as a feedback control law. Reinforcement learning provides a potential framework for robust, autonomous maneuvers in uncertain…

Traffic scenarios in roundabouts pose substantial complexity for automated driving. Manually mapping all possible scenarios into a state space is labor-intensive and challenging. Deep reinforcement learning (DRL) with its ability to learn…

Deep reinforcement learning (DRL) finds extensive application in autonomous drone navigation within complex, high-risk environments. However, its practical deployment faces a safety-exploration dilemma: soft penalty mechanisms encourage…

Many state-of-the art robotic applications utilize series elastic actuators (SEAs) with closed-loop force control to achieve complex tasks such as walking, lifting, and manipulation. Model-free PID control methods are more prone to…

Reinforcement learning is of increasing importance in the field of robot control and simulation plays a~key role in this process. In the unmanned aerial vehicles (UAVs, drones), there is also an increase in the number of published…

Fixed-wing Unmanned Aerial Vehicles (UAVs) are one of the most commonly used platforms for the burgeoning Low-altitude Economy (LAE) and Urban Air Mobility (UAM), due to their long endurance and high-speed capabilities. Classical obstacle…

Contrastive reinforcement learning (CRL) learns goal-conditioned Q-values through a contrastive objective over state-action and goal representations, removing the need for hand-crafted reward functions. Despite impressive success in…

This paper presents a deep reinforcement learning (DRL) framework for dynamic portfolio optimization under market uncertainty and risk. The proposed model integrates a Sharpe ratio-based reward function with direct risk control mechanisms,…

This study conducts a comparative analysis of Model Predictive Control (MPC) and Proximal Policy Optimization (PPO), a Deep Reinforcement Learning (DRL) algorithm, applied to a 1-Degree of Freedom (DOF) Quanser Aero 2 system. Classical…

This research gauges the ability of deep reinforcement learning (DRL) techniques to assist the optimization and control of fluid mechanical systems. It combines a novel, "degenerate" version of the proximal policy optimization (PPO)…

In recent years, unmanned aerial vehicle (UAV) related technology has expanded knowledge in the area, bringing to light new problems and challenges that require solutions. Furthermore, because the technology allows processes usually carried…

Learning effective reinforcement learning (RL) policies to solve real-world complex tasks can be quite challenging without a high-fidelity simulation environment. In most cases, we are only given imperfect simulators with simplified…

For many applications of reinforcement learning it can be more convenient to specify both a reward function and constraints, rather than trying to design behavior through the reward function. For example, systems that physically interact…

Trust Region Policy Optimization (TRPO) and Proximal Policy Optimization (PPO) are among the most successful policy gradient approaches in deep reinforcement learning (RL). While these methods achieve state-of-the-art performance across a…