相关论文: Toward Real-Time Decentralized Reinforcement Learn…

The problem of Reinforcement Learning (RL) in an unknown nonlinear dynamical system is equivalent to the search for an optimal feedback law utilizing the simulations/ rollouts of the dynamical system. Most RL techniques search over a…

Learning-based methods, particularly Reinforcement Learning (RL), hold great promise for streamlining deployment, enhancing performance, and achieving generalization in the control of autonomous multirotor aerial vehicles. Deep RL has been…

Reinforcement Learning (RL) methods have been proven successful in solving manipulation tasks autonomously. However, RL is still not widely adopted on real robotic systems because working with real hardware entails additional challenges,…

The last decade has seen an upswing in interest and adoption of reinforcement learning (RL) techniques, in large part due to its demonstrated capabilities at performing certain tasks at "super-human levels". This has incentivized the…

Unsupervised reinforcement learning (RL) aims at pre-training agents that can solve a wide range of downstream tasks in complex environments. Despite recent advancements, existing approaches suffer from several limitations: they may require…

Jumping poses a significant challenge for quadruped robots, despite being crucial for many operational scenarios. While optimisation methods exist for controlling such motions, they are often time-consuming and demand extensive knowledge of…

Reinforcement learning (RL)-based driver assistance systems seek to improve fuel consumption via continual improvement of powertrain control actions considering experiential data from the field. However, the need to explore diverse…

Humanoid robots have attracted significant attention in recent years. Reinforcement Learning (RL) is one of the main ways to control the whole body of humanoid robots. RL enables agents to complete tasks by learning from environment…

Achieving highly dynamic behaviors on humanoid robots, such as running, requires controllers that are both robust and precise, and hence difficult to design. Classical control methods offer valuable insight into how such systems can…

We propose a general and model-free approach for Reinforcement Learning (RL) on real robotics with sparse rewards. We build upon the Deep Deterministic Policy Gradient (DDPG) algorithm to use demonstrations. Both demonstrations and actual…

Leveraging offline data is a promising way to improve the sample efficiency of online reinforcement learning (RL). This paper expands the pool of usable data for offline-to-online RL by leveraging abundant non-curated data that is…

We study the offline meta-reinforcement learning (OMRL) problem, a paradigm which enables reinforcement learning (RL) algorithms to quickly adapt to unseen tasks without any interactions with the environments, making RL truly practical in…

Can we use reinforcement learning to learn general-purpose policies that can perform a wide range of different tasks, resulting in flexible and reusable skills? Contextual policies provide this capability in principle, but the…

Deep reinforcement learning (RL) uses model-free techniques to optimize task-specific control policies. Despite having emerged as a promising approach for complex problems, RL is still hard to use reliably for real-world applications. Apart…

We study reinforcement learning (RL) in the setting of continuous time and space, for an infinite horizon with a discounted objective and the underlying dynamics driven by a stochastic differential equation. Built upon recent advances in…

Reinforcement Learning (RL) is a promising approach for solving various control, optimization, and sequential decision making tasks. However, designing reward functions for complex tasks (e.g., with multiple objectives and safety…

In the last decade, Reinforcement Learning (RL) has achieved remarkable success in the control and decision-making of complex dynamical systems. However, most RL algorithms rely on the Markov Decision Process assumption, which is violated…

Recent advances of locomotion controllers utilizing deep reinforcement learning (RL) have yielded impressive results in terms of achieving rapid and robust locomotion across challenging terrain, such as rugged rocks, non-rigid ground, and…

Reference-model-assisted deep reinforcement learning (DRL) for inverter-based Volt-Var Control (IB-VVC) in active distribution networks is proposed. We investigate that a large action space increases the learning difficulties of DRL and…

For sophisticated reinforcement learning (RL) systems to interact usefully with real-world environments, we need to communicate complex goals to these systems. In this work, we explore goals defined in terms of (non-expert) human…