Related papers: D2 Actor Critic: Diffusion Actor Meets Distributio…

We identify two issues with the family of algorithms based on the Adversarial Imitation Learning framework. The first problem is implicit bias present in the reward functions used in these algorithms. While these biases might work well for…

A key aspect of intelligence is the ability to demonstrate a broad spectrum of behaviors for adapting to unexpected situations. Over the past decade, advancements in deep reinforcement learning have led to groundbreaking achievements to…

Offline reinforcement learning (RL) holds promise as a means to learn high-reward policies from a static dataset, without the need for further environment interactions. However, a key challenge in offline RL lies in effectively stitching…

We propose a reinforcement learning (RL)-based algorithm to jointly train (1) a trajectory planner and (2) a tracking controller in a layered control architecture. Our algorithm arises naturally from a rewrite of the underlying optimal…

We introduce Distribution Contractive Reinforcement Learning (DICE-RL), a framework that uses reinforcement learning (RL) as a "distribution contraction" operator to refine pretrained generative robot policies. DICE-RL turns a pretrained…

Traditional continuous deep reinforcement learning (RL) algorithms employ deterministic or unimodal Gaussian actors, which cannot express complex multimodal decision distributions. This limitation can hinder their performance in…

Adversarial Imitation Learning (AIL) is a class of popular state-of-the-art Imitation Learning algorithms commonly used in robotics. In AIL, an artificial adversary's misclassification is used as a reward signal that is optimized by any…

Actor-critic Reinforcement Learning (RL) algorithms have achieved impressive performance in continuous control tasks. However, they still suffer two nontrivial obstacles, i.e., low sample efficiency and overestimation bias. To this end, we…

Autonomous driving with reinforcement learning (RL) has significant potential. However, applying RL in real-world settings remains challenging due to the need for safe, efficient, and robust learning. Incorporating human expertise into the…

We study the robustness of deep reinforcement learning algorithms against distribution shifts within contextual multi-stage stochastic combinatorial optimization problems from the operations research domain. In this context, risk-sensitive…

Although Reinforcement Learning (RL) is effective for sequential decision-making problems under uncertainty, it still fails to thrive in real-world systems where risk or safety is a binding constraint. In this paper, we formulate the RL…

Device-to-device (D2D) communication has been recognized as a promising technique to improve spectrum efficiency. However, D2D transmission as an underlay causes severe interference, which imposes a technical challenge to spectrum…

Recent research has highlighted the powerful capabilities of imitation learning in robotics. Leveraging generative models, particularly diffusion models, these approaches offer notable advantages such as strong multi-task generalization,…

This research is concerned with the novel application and investigation of `Soft Actor Critic' (SAC) based Deep Reinforcement Learning (DRL) to control the cooling setpoint (and hence cooling loads) of a large commercial building to harness…

The development of Distributional Reinforcement Learning (DRL) has introduced a natural way to incorporate risk sensitivity into value-based and actor-critic methods by employing risk measures other than expectation in the value function.…

Robotic manipulation remains challenging for reinforcement learning due to contact-rich dynamics, long horizons, and training instability. Although off-policy actor-critic algorithms such as SAC and TD3 perform well in simulation, they…

Quality-Diversity (QD) algorithms excel at discovering diverse repertoires of skills, but are hindered by poor sample efficiency and often require tens of millions of environment steps to solve complex locomotion tasks. Recent advances in…

This paper describes a purely data-driven solution to a class of sequential decision-making problems with a large number of concurrent online decisions, with applications to computing systems and operations research. We assume that while…

As an emerging paradigm of content creation, AI-Generated Content (AIGC) has been widely adopted by a large number of edge end users. However, the requests for generated content from AIGC users have obvious diversity, and there remains a…

Deep reinforcement learning offers a model-free alternative to supervised deep learning and classical optimization for solving the transmit power control problem in wireless networks. The multi-agent deep reinforcement learning approach…