相关论文: Actor-critic versus direct policy search: a compar…

The incorporation of macro-actions (temporally extended actions) into multi-agent decision problems has the potential to address the curse of dimensionality associated with such decision problems. Since macro-actions last for stochastic…

Inefficient traffic control may cause numerous problems such as traffic congestion and energy waste. This paper proposes a novel multi-agent reinforcement learning method, named KS-DDPG (Knowledge Sharing Deep Deterministic Policy Gradient)…

Evolution Strategy (ES) is a powerful black-box optimization technique based on the idea of natural evolution. In each of its iterations, a key step entails ranking candidate solutions based on some fitness score. For an ES method in…

Importance sampling (IS) represents a fundamental technique for a large surge of off-policy reinforcement learning approaches. Policy gradient (PG) methods, in particular, significantly benefit from IS, enabling the effective reuse of…

Maze navigation is a fundamental challenge in robotics, requiring agents to traverse complex environments efficiently. While the Deep Deterministic Policy Gradient (DDPG) algorithm excels in control tasks, its performance in maze navigation…

Generative robot policies such as Flow Matching offer flexible, multi-modal policy learning but are sample-inefficient. Although object-centric policies improve sample efficiency, it does not resolve this limitation. In this work, we…

Reinforcement learning (RL) enables agents to take decision based on a reward function. However, in the process of learning, the choice of values for learning algorithm parameters can significantly impact the overall learning process. In…

The Covariance Matrix Adaptation Evolution Strategy (CMA-ES) is a popular method to deal with nonconvex and/or stochastic optimization problems when the gradient information is not available. Being based on the CMA-ES, the recently proposed…

Most policy search algorithms require thousands of training episodes to find an effective policy, which is often infeasible with a physical robot. This survey article focuses on the extreme other end of the spectrum: how can a robot adapt…

Sample inefficiency is a long-lasting problem in reinforcement learning (RL). The state-of-the-art estimates the optimal action values while it usually involves an extensive search over the state-action space and unstable optimization.…

This paper proposes GProp, a deep reinforcement learning algorithm for continuous policies with compatible function approximation. The algorithm is based on two innovations. Firstly, we present a temporal-difference based method for…

We focus on developing efficient and reliable policy optimization strategies for robot learning with real-world data. In recent years, policy gradient methods have emerged as a promising paradigm for training control policies in simulation.…

While deep reinforcement learning has achieved tremendous successes in various applications, most existing works only focus on maximizing the expected value of total return and thus ignore its inherent stochasticity. Such stochasticity is…

A hallmark of intelligence is the ability to exhibit a wide range of effective behaviors. Inspired by this principle, Quality-Diversity algorithms, such as MAP-Elites, are evolutionary methods designed to generate a set of diverse and…

This tutorial introduces the CMA Evolution Strategy (ES), where CMA stands for Covariance Matrix Adaptation. The CMA-ES is a stochastic, or randomized, method for real-parameter (continuous domain) optimization of non-linear, non-convex…

This paper provides the details of implementing two important policy gradient methods to solve the inverted pendulum problem. These are namely the Deep Deterministic Policy Gradient (DDPG) and the Proximal Policy Optimization (PPO)…

Actor-critic methods, like Twin Delayed Deep Deterministic Policy Gradient (TD3), depend on basic noise-based exploration, which can result in less than optimal policy convergence. In this study, we introduce Monte Carlo Beam Search (MCBS),…

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…

Diffusion Policy (DP) enables robots to learn complex behaviors by imitating expert demonstrations through action diffusion. However, in practical applications, hardware limitations often degrade data quality, while real-time constraints…

Policy optimization is an effective reinforcement learning approach to solve continuous control tasks. Recent achievements have shown that alternating online and offline optimization is a successful choice for efficient trajectory reuse.…