相关论文: LVIS: Learning from Value Function Intervals for C…

Imitation learning, followed by reinforcement learning algorithms, is a promising paradigm to solve complex control tasks sample-efficiently. However, learning from demonstrations often suffers from the covariate shift problem, which…

A common challenge in real-time operations is deciding whether to re-solve an optimization problem or continue using an existing solution. While modern data platforms may collect information at high frequencies, many real-time operations…

In this paper, we present an approach for designing feedback controllers for polynomial systems that maximize the size of the time-limited backwards reachable set (BRS). We rely on the notion of occupation measures to pose the synthesis…

Decisions in automated logistic systems can be improved based on knowledge of real-time state of individual parts and also environmental factors. These knowledge can be obtained through travel time of edges by individual robots which…

This paper investigates the use of Reinforcement Learning for the robust design of low-thrust interplanetary trajectories in presence of severe disturbances, modeled alternatively as Gaussian additive process noise, observation noise,…

In this paper, we develop a socially cooperative optimal control framework to address the motion planning problem for connected and automated vehicles (CAVs) in mixed traffic using social value orientation (SVO) and a potential game…

Planning problems are hard, motion planning, for example, isPSPACE-hard. Such problems are even more difficult in the presence of uncertainty. Although, Markov Decision Processes (MDPs) provide a formal framework for such problems, finding…

Learning rate schedules are ubiquitously used to speed up and improve optimisation. Many different policies have been introduced on an empirical basis, and theoretical analyses have been developed for convex settings. However, in many…

Reinforcement learning with verifiable rewards (RLVR) has become a key technique for en- hancing LLM reasoning, yet its data ineffi- ciency remains a major bottleneck. Existing methods address this problem only partially, each missing at…

Current end-to-end deep Reinforcement Learning (RL) approaches require jointly learning perception, decision-making and low-level control from very sparse reward signals and high-dimensional inputs, with little capability of incorporating…

The Low Order-Value Optimization (LOVO) problem involves minimizing the minimum among a finite number of function values within a feasible set. LOVO has several practical applications such as robust parameter estimation, protein alignment,…

This paper investigates the problem of regulating in real time a linear dynamical system to the solution trajectory of a time-varying constrained convex optimization problem. The proposed feedback controller is based on an adaptation of the…

Model-free reinforcement learning has recently been shown to be effective at learning navigation policies from complex image input. However, these algorithms tend to require large amounts of interaction with the environment, which can be…

Data-driven inverse optimization for mixed-integer linear programs (MILPs), which seeks to learn an objective function and constraints consistent with observed decisions, is important for building accurate mathematical models in a variety…

We present a novel method for global motion planning of robotic systems that interact with the environment through contacts. Our method directly handles the hybrid nature of such tasks using tools from convex optimization. We formulate the…

Aligning Large Language Models (LLMs) with nuanced human values remains a critical challenge, as existing methods like Reinforcement Learning from Human Feedback (RLHF) often handle only coarse-grained attributes. In practice, fine-tuning…

Vision-Language-Action Models (VLAs) have shown remarkable progress towards embodied intelligence. While their architecture partially resembles that of Large Language Models (LLMs), VLAs exhibit higher complexity due to their multi-modal…

Learning to control unknown nonlinear dynamical systems is a fundamental problem in reinforcement learning and control theory. A commonly applied approach is to first explore the environment (exploration), learn an accurate model of it…

Recent advances in high-fidelity simulators have enabled closed-loop training of autonomous driving agents, potentially solving the distribution shift in training v.s. deployment and allowing training to be scaled both safely and cheaply.…

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…