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

We consider the problem of Cost-Aware Learning, where sampling different component functions of a finite-sum objective incurs different costs. The objective is to reach a target error while minimizing the total cost. First, we propose the…

This paper considers the problem of controlling a dynamical system when the state cannot be directly measured and the control performance metrics are unknown or partially known. In particular, we focus on the design of data-driven…

In this paper we present a Learning Model Predictive Control (LMPC) strategy for linear and nonlinear time optimal control problems. Our work builds on existing LMPC methodologies and it guarantees finite time convergence properties for the…

Reinforcement learning with verifiable rewards (RLVR) has become a core post-training recipe. Introducing suitable off-policy trajectories into on-policy exploration accelerates RLVR convergence and raises the performance ceiling, yet…

Connected and automated vehicles (CAVs) can alleviate traffic congestion, air pollution, and improve safety. In this paper, we provide a decentralized coordination framework for CAVs at a signal-free intersection to minimize travel time and…

This paper focuses on an adaptive and fault-tolerant vision-guided robotic system that enables to choose the most appropriate control action if partial or complete failure of the vision system in the short term occurs. Moreover, the…

In this paper, we propose a reinforcement learning-based algorithm for trajectory optimization for constrained dynamical systems. This problem is motivated by the fact that for most robotic systems, the dynamics may not always be known.…

Reinforcement learning (RL) policies are typically trained for fixed objectives, making reuse difficult when task requirements change. We study inference-time policy reuse: given a library of pre-trained policies and a new composite…

Reinforcement learning (RL) can refine Vision-Language-Action (VLA) policies beyond behavior cloning, but real-world RL remains expensive due to extensive rollouts, resets, supervision, and safety risks. Action-conditioned video world…

The naive application of Reinforcement Learning algorithms to continuous control problems -- such as locomotion and manipulation -- often results in policies which rely on high-amplitude, high-frequency control signals, known colloquially…

This paper proposes an on-policy reinforcement learning (RL) control algorithm that solves the optimal regulation problem for a class of uncertain continuous-time nonlinear systems under user-defined state constraints. We formulate the safe…

A challenging category of robotics problems arises when sensing incurs substantial costs. This paper examines settings in which a robot wishes to limit its observations of state, for instance, motivated by specific considerations of energy…

Despite impressive results, reinforcement learning (RL) suffers from slow convergence and requires a large variety of tuning strategies. In this paper, we investigate the ability of RL algorithms on simple continuous control tasks. We show…

Inverse Optimal Control (IOC) is a powerful framework for learning a behaviour from observations of experts. The framework aims to identify the underlying cost function that the observed optimal trajectories (the experts' behaviour) are…

Many modern robotic systems such as multi-robot systems and manipulators exhibit redundancy, a property owing to which they are capable of executing multiple tasks. This work proposes a novel method, based on the Reinforcement Learning (RL)…

We consider the problem of automatic generation of control strategies for robotic vehicles given a set of high-level mission specifications, such as "Vehicle x must eventually visit a target region and then return to a base," "Regions A and…

While guided decoding, especially value-guided methods, has emerged as a cost-effective alternative for controlling language model outputs without re-training models, its effectiveness is limited by the accuracy of the value function. We…

Automatic optimization of robotic behavior has been the long-standing goal of Evolutionary Robotics. Allowing the problem at hand to be solved by automation often leads to novel approaches and new insights. A common problem encountered with…

The maximum hands-off control is the optimal solution to the L0 optimal control problem. It has the minimum support length among all feasible control inputs. To avoid computational difficulties arising from its combinatorial nature, the…

Connected and automated vehicles (CAVs) technologies promise to attenuate undesired traffic disturbances. However, in mixed traffic where human-driven vehicles (HDVs) also exist, the nonlinear human-driving behavior has brought critical…