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

Deep reinforcement learning has demonstrated increasing capabilities for continuous control problems, including agents that can move with skill and agility through their environment. An open problem in this setting is that of developing…

Leveraging machine learning methods to solve constraint satisfaction problems has shown promising, but they are mostly limited to a static situation where the problem description is completely known and fixed from the beginning. In this…

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 studies the policy mirror descent (PMD) method, which is a general policy optimization framework in reinforcement learning and can cover a wide range of policy gradient methods by specifying difference mirror maps. Existing…

Search in test time is often used to improve the performance of reinforcement learning algorithms. Performing theoretically sound search in fully adversarial two-player games with imperfect information is notoriously difficult and requires…

Deploying large, complex policies in the real world requires the ability to steer them to fit the needs of a situation. Most common steering approaches, like goal-conditioning, require training the robot policy with a distribution of…

We present a system for interactive examination of learned security policies. It allows a user to traverse episodes of Markov decision processes in a controlled manner and to track the actions triggered by security policies. Similar to a…

Switched linear systems are time-varying nonlinear systems whose dynamics switch between different modes, where each mode corresponds to different linear dynamics. They arise naturally to model unexpected failures, environment uncertainties…

Despite advancements in deep reinforcement learning algorithms, developing an effective exploration strategy is still an open problem. Most existing exploration strategies either are based on simple heuristics, or require the model of the…

Determining the most appropriate features for machine learning predictive models is challenging regarding performance and feature acquisition costs. In particular, global feature choice is limited given that some features will only benefit…

In continuous control, exploration is often performed through undirected strategies in which parameters of the networks or selected actions are perturbed by random noise. Although the deep setting of undirected exploration has been shown to…

Non-smooth dynamics driven by stochastic disturbance arise in a wide variety of engineering problems. Impulsive interventions are often employed to control stochastic systems; however, the modeling and analysis subject to execution delay…

We introduce a learning method called ``gradient-based reinforcement planning'' (GREP). Unlike traditional DP methods that improve their policy backwards in time, GREP is a gradient-based method that plans ahead and improves its policy…

Policy search reinforcement learning allows robots to acquire skills by themselves. However, the learning procedure is inherently unsafe as the robot has no a-priori way to predict the consequences of the exploratory actions it takes.…

Diffusion policies have shown to be very efficient at learning complex, multi-modal behaviors for robotic manipulation. However, errors in generated action sequences can compound over time which can potentially lead to failure. Some…

Deploying multiple robots for target search and tracking has many practical applications, yet the challenge of planning over unknown or partially known targets remains difficult to address. With recent advances in deep learning, intelligent…

We address the problem of finding an optimal policy in a Markov decision process under a restricted policy class defined by the convex hull of a set of base policies. This problem is of great interest in applications in which a number of…

Delays frequently occur in real-world environments, yet standard reinforcement learning (RL) algorithms often assume instantaneous perception of the environment. We study random sensor delays in POMDPs, where observations may arrive…

We are witnessing significant progress on perception models, specifically those trained on large-scale internet images. However, efficiently generalizing these perception models to unseen embodied tasks is insufficiently studied, which will…

This paper introduces a novel causal framework for multi-stage decision-making in natural language action spaces where outcomes are only observed after a sequence of actions. While recent approaches like Proximal Policy Optimization (PPO)…