相关论文: Towards Combining On-Off-Policy Methods for Real-W…

In this work we propose an approach to learn a robust policy for solving the pivoting task. Recently, several model-free continuous control algorithms were shown to learn successful policies without prior knowledge of the dynamics of the…

Reinforcement learning has shown promise in learning policies that can solve complex problems. However, manually specifying a good reward function can be difficult, especially for intricate tasks. Inverse reinforcement learning offers a…

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…

When performing imitation learning from expert demonstrations, distribution matching is a popular approach, in which one alternates between estimating distribution ratios and then using these ratios as rewards in a standard reinforcement…

Recent theoretical work studies sample-efficient reinforcement learning (RL) extensively in two settings: learning interactively in the environment (online RL), or learning from an offline dataset (offline RL). However, existing algorithms…

This paper introduces DiffTORI, which utilizes Differentiable Trajectory Optimization as the policy representation to generate actions for deep Reinforcement and Imitation learning. Trajectory optimization is a powerful and widely used…

Autonomous UAV inspection of confined industrial infrastructure, such as ventilation ducts, demands robust navigation policies where collisions are unacceptable. While Deep Reinforcement Learning (DRL) offers a powerful paradigm for…

Reinforcement Learning (RL) can effectively learn complex policies. However, learning these policies often demands extensive trial-and-error interactions with the environment. In many real-world scenarios, this approach is not practical due…

Reinforcement Learning aims at identifying and evaluating efficient control policies from data. In many real-world applications, the learner is not allowed to experiment and cannot gather data in an online manner (this is the case when…

In this paper, we explore deep reinforcement learning algorithms for vision-based robotic grasping. Model-free deep reinforcement learning (RL) has been successfully applied to a range of challenging environments, but the proliferation of…

In this paper we revisit the method of off-policy corrections for reinforcement learning (COP-TD) pioneered by Hallak et al. (2017). Under this method, online updates to the value function are reweighted to avoid divergence issues typical…

This paper investigates how to efficiently transition and update policies, trained initially with demonstrations, using off-policy actor-critic reinforcement learning. It is well-known that techniques based on Learning from Demonstrations,…

Contrastive reinforcement learning (CRL) learns goal-conditioned Q-values through a contrastive objective over state-action and goal representations, removing the need for hand-crafted reward functions. Despite impressive success in…

It is desirable for policies to optimistically explore new states and behaviors during online reinforcement learning (RL) or fine-tuning, especially when prior offline data does not provide enough state coverage. However, exploration…

Reinforcement Learning (RL) has emerged as the key driver for post-training complex reasoning in Large Language Models (LLMs), yet online RL introduces significant instability and computational overhead. Offline RL offers a compelling…

Asynchronous reinforcement learning improves rollout throughput for large language model agents by decoupling sample generation from policy optimization, but it also introduces a critical failure mode for PPO-style off-policy correction. In…

Recent successful deep reinforcement learning algorithms, such as Trust Region Policy Optimization (TRPO) or Proximal Policy Optimization (PPO), are fundamentally variations of conservative policy iteration (CPI). These algorithms iterate…

This paper introduces two simple techniques to improve off-policy Reinforcement Learning (RL) algorithms. First, we formulate off-policy RL as a stochastic proximal point iteration. The target network plays the role of the variable of…

This paper studies the statistical theory of batch data reinforcement learning with function approximation. Consider the off-policy evaluation problem, which is to estimate the cumulative value of a new target policy from logged history…

We introduce a constrained optimization method for policy gradient reinforcement learning, which uses a virtual trust region to regulate each policy update. In addition to using the proximity of one single old policy as the normal trust…