相关论文: Guided Policy Search with Delayed Sensor Measureme…

In this paper we apply guided policy search (GPS) based reinforcement learning framework for a high dimensional optimal control problem arising in an additive manufacturing process. The problem comprises of controlling the process…

Guided policy search algorithms can be used to optimize complex nonlinear policies, such as deep neural networks, without directly computing policy gradients in the high-dimensional parameter space. Instead, these methods use supervised…

Test-time data augmentation$-$averaging the predictions of a machine learning model across multiple augmented samples of data$-$is a widely used technique that improves the predictive performance. While many advanced learnable data…

Guided policy search algorithms have been proven to work with incredible accuracy for not only controlling a complicated dynamical system, but also learning optimal policies from various unseen instances. One assumes true nature of the…

Policy search reinforcement learning has been drawing much attention as a method of learning a robot control policy. In particular, policy search using such non-parametric policies as Gaussian process regression can learn optimal actions…

We present a policy search method for learning complex feedback control policies that map from high-dimensional sensory inputs to motor torques, for manipulation tasks with discontinuous contact dynamics. We build on a prior technique…

Markovian processes have long been used to model stochastic environments. Reinforcement learning has emerged as a framework to solve sequential planning and decision-making problems in such environments. In recent years, attempts were made…

In principle, reinforcement learning and policy search methods can enable robots to learn highly complex and general skills that may allow them to function amid the complexity and diversity of the real world. However, training a policy that…

Reinforcement learning in environments with many action-state pairs is challenging. At issue is the number of episodes needed to thoroughly search the policy space. Most conventional heuristics address this search problem in a stochastic…

Model-based Reinforcement Learning estimates the true environment through a world model in order to approximate the optimal policy. This family of algorithms usually benefits from better sample efficiency than their model-free counterparts.…

Guided Policy Search enables robots to learn control policies for complex manipulation tasks efficiently. Therein, the control policies are represented as high-dimensional neural networks which derive robot actions based on states. However,…

Autonomous learning of robotic skills can allow general-purpose robots to learn wide behavioral repertoires without requiring extensive manual engineering. However, robotic skill learning methods typically make one of several trade-offs to…

Efficient exploration is necessary to achieve good sample efficiency for reinforcement learning in general. From small, tabular settings such as gridworlds to large, continuous and sparse reward settings such as robotic object manipulation…

Continuous-time Markov decision processes are an important class of models in a wide range of applications, ranging from cyber-physical systems to synthetic biology. A central problem is how to devise a policy to control the system in order…

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…

Traditional model-based reinforcement learning approaches learn a model of the environment dynamics without explicitly considering how it will be used by the agent. In the presence of misspecified model classes, this can lead to poor…

Continuous action policy search is currently the focus of intensive research, driven both by the recent success of deep reinforcement learning algorithms and the emergence of competitors based on evolutionary algorithms. In this paper, we…

We present an Imitation Learning approach for the control of dynamical systems with a known model. Our policy search method is guided by solutions from MPC. Typical policy search methods of this kind minimize a distance metric between the…

Markov Decision Process (MDP) presents a mathematical framework to formulate the learning processes of agents in reinforcement learning. MDP is limited by the Markovian assumption that a reward only depends on the immediate state and…

Autonomous learning of object manipulation skills can enable robots to acquire rich behavioral repertoires that scale to the variety of objects found in the real world. However, current motion skill learning methods typically restrict the…