相关论文: Policy Optimization for $\mathcal{H}_2$ Linear Con…

Enforcing state-wise safety constraints is critical for the application of reinforcement learning (RL) in real-world problems, such as autonomous driving and robot manipulation. However, existing safe RL methods only enforce state-wise…

Despite Proximal Policy Optimization (PPO) dominating policy gradient methods -- from robotic control to game AI -- its static trust region forces a brittle trade-off: aggressive clipping stifles early exploration, while late-stage updates…

Recently, GRPO-based reinforcement learning has shown remarkable progress in optimizing flow-matching models, effectively improving their alignment with task-specific rewards. Within these frameworks, the policy update relies on…

Reinforcement learning with verifiable rewards (RLVR) has become a standard approach for large language models (LLMs) post-training to incentivize reasoning capacity. Among existing recipes, group-based policy gradient is prevalent, which…

Mixed H2/H-infinity control balances performance and robustness by minimizing an H2 cost bound subject to an H-infinity constraint. However, classical Riccati/LMI solutions offer limited insight into the nonconvex optimization landscape and…

Direct data-driven design methods for the linear quadratic regulator (LQR) mainly use offline or episodic data batches, and their online adaptation has been acknowledged as an open problem. In this paper, we propose a direct adaptive method…

Policy gradient (PG) methods are the backbone of many reinforcement learning algorithms due to their good performance in policy optimization problems. As a gradient-based approach, PG methods typically rely on knowledge of the system…

This paper presents the concept of an adaptive safe padding that forces Reinforcement Learning (RL) to synthesise optimal control policies while ensuring safety during the learning process. Policies are synthesised to satisfy a goal,…

Reinforcement learning (RL) is a promising method to solve control problems. However, model-free RL algorithms are sample inefficient and require thousands if not millions of samples to learn optimal control policies. A major source of…

We propose Frictive Policy Optimization (FPO), a framework for learning language model policies that regulate not only what to say, but when and how to intervene in order to manage epistemic and normative risk. Unlike standard alignment…

Reinforcement Learning (RL) robot controllers usually aggregate many task objectives into one scalar reward. While large-scale proximal policy optimisation (PPO) has enabled impressive results such as robust robot locomotion in the real…

Incorporating safety is an essential prerequisite for broadening the practical applications of reinforcement learning in real-world scenarios. To tackle this challenge, Constrained Markov Decision Processes (CMDPs) are leveraged, which…

Among on-policy reinforcement learning algorithms, Proximal Policy Optimization (PPO) demonstrates is widely favored for its simplicity, numerical stability, and strong empirical performance. Standard PPO relies on surrogate objectives…

Proximal policy optimization (PPO) is one of the most popular state-of-the-art on-policy algorithms that has become a standard baseline in modern reinforcement learning with applications in numerous fields. Though it delivers stable…

A fundamental challenge in reinforcement learning is to learn policies that generalize beyond the operating domains experienced during training. In this paper, we approach this challenge through the following invariance principle: an agent…

Reinforcement learning (RL) policies are prone to high-frequency oscillations, especially undesirable when deploying to hardware in the real-world. In this paper, we identify, categorize, and compare methods from the literature that aim to…

Traditional portfolio management methods can incorporate specific investor preferences but rely on accurate forecasts of asset returns and covariances. Reinforcement learning (RL) methods do not rely on these explicit forecasts and are…

Single-trajectory reinforcement learning (RL) methods aim to optimize policies from datasets consisting of (prompt, response, reward) triplets, where scalar rewards are directly available. This supervision format is highly practical, as it…

In recent years, trust region on-policy reinforcement learning has achieved impressive results in addressing complex control tasks and gaming scenarios. However, contemporary state-of-the-art algorithms within this category primarily…

Direct policy search has been widely applied in modern reinforcement learning and continuous control. However, the theoretical properties of direct policy search on nonsmooth robust control synthesis have not been fully understood. The…