Related papers: OGPO: Sample Efficient Full-Finetuning of Generati…

This work is concerned with solving neural network-based feedback controllers efficiently for optimal control problems. We first conduct a comparative study of two prevalent approaches: offline supervised learning and online direct policy…

Text-to-Image (T2I) generation has achieved remarkable progress in recent years. Meanwhile, reinforcement learning methods, particularly those based on Group Relative Policy Optimization (GRPO), have attracted widespread attention and been…

Federated Reinforcement Learning (FRL) has been deemed as a promising solution for intelligent decision-making in the era of Artificial Internet of Things. However, existing FRL approaches often entail repeated interactions with the…

Offline reinforcement learning methods hold the promise of learning policies from pre-collected datasets without the need to query the environment for new transitions. This setting is particularly well-suited for continuous control robotic…

This paper proposes an offline control algorithm, called Recurrent Model Predictive Control (RMPC), to solve large-scale nonlinear finite-horizon optimal control problems. It can be regarded as an explicit solver of traditional Model…

Model-based reinforcement learning approaches leverage a forward dynamics model to support planning and decision making, which, however, may fail catastrophically if the model is inaccurate. Although there are several existing methods…

We propose Process-Aware Policy Optimization (PAPO), a method that integrates process-level evaluation into Group Relative Policy Optimization (GRPO) through decoupled advantage normalization, to address two limitations of existing reward…

Offline Reinforcement Learning (RL) relies on policy constraints to mitigate extrapolation error, where both the constraint form and constraint strength critically shape performance. However, most existing methods commit to a single…

Inspired by the principle of self-regulating cooperation in collective institutions, we propose the Group Relative Policy Optimization with Global Cooperation Constraint (GRPO-GCC) framework. This work is the first to introduce GRPO into…

Experience replay enables reinforcement learning agents to memorize and reuse past experiences, just as humans replay memories for the situation at hand. Contemporary off-policy algorithms either replay past experiences uniformly or utilize…

Diffusion policies have shown promise in learning complex behaviors from demonstrations, particularly for tasks requiring precise control and long-term planning. However, they face challenges in robustness when encountering distribution…

The ability of Gaussian processes (GPs) to predict the behavior of dynamical systems as a more sample-efficient alternative to parametric models seems promising for real-world robotics research. However, the computational complexity of GPs…

This paper presents Post-Decision Proximal Policy Optimization (PDPPO), a novel variation of the leading deep reinforcement learning method, Proximal Policy Optimization (PPO). The PDPPO state transition process is divided into two steps: a…

Large language models are commonly trained through multi-stage post-training: first via RLHF, then fine-tuned for other downstream objectives. Yet even small downstream updates can compromise earlier learned behaviors (e.g., safety),…

We present a novel on-policy algorithm for solving stochastic optimal control (SOC) problems. By leveraging the Girsanov theorem, our method directly computes on-policy gradients of the SOC objective without expensive backpropagation…

Due to more volatile generation, flexibility will become more important in transmission grids. One potential source of this flexibility can be distribution grids. A flexibility request from the transmission grid to a distribution grid then…

Off-policy model-free deep reinforcement learning methods using previously collected data can improve sample efficiency over on-policy policy gradient techniques. On the other hand, on-policy algorithms are often more stable and easier to…

Model-based offline optimization with dynamics-aware policy provides a new perspective for policy learning and out-of-distribution generalization, where the learned policy could adapt to different dynamics enumerated at the training stage.…

Neural control of memory-constrained, agile robots requires small, yet highly performant models. We leverage graph hyper networks to learn graph hyper policies trained with off-policy reinforcement learning resulting in networks that are…

Policy networks are a central feature of deep reinforcement learning (RL) algorithms for continuous control, enabling the estimation and sampling of high-value actions. From the variational inference perspective on RL, policy networks, when…