相关论文: Model-Based Reinforcement Learning for Physical Sy…

Online reinforcement learning (RL) methods are often data-inefficient or unreliable, making them difficult to train on real robotic hardware, especially quadruped robots. Learning robotic tasks from pre-collected data is a promising…

We consider offline reinforcement learning (RL) methods in possibly nonstationary environments. Many existing RL algorithms in the literature rely on the stationarity assumption that requires the system transition and the reward function to…

We present new algorithms for inverse reinforcement learning (IRL, or inverse optimal control) in convex optimization settings. We argue that finite-space IRL can be posed as a convex quadratic program under a Bayesian inference framework…

The primary obstacle for applying reinforcement learning (RL) to real-world robotics is the design of effective reward functions. While recently learning-based Process Reward Models (PRMs) are a promising direction, they are often hindered…

Reinforcement learning (RL) methods typically learn new tasks from scratch, often disregarding prior knowledge that could accelerate the learning process. While some methods incorporate previously learned skills, they usually rely on a…

Humans excel at robust bipedal walking in complex natural environments. In each step, they adequately tune the interaction of biomechanical muscle dynamics and neuronal signals to be robust against uncertainties in ground conditions.…

Model-based reinforcement learning (MBRL) is sample-efficient but depends on the accuracy of the learned dynamics, which are often modeled using black-box methods that do not adhere to physical laws. Those methods tend to produce inaccurate…

This paper adds to the growing literature of reinforcement learning (RL) for healthcare by proposing a novel paradigm: augmenting any predictor with Rule-based RL Layer (RRLL) that corrects the model's physiologically impossible…

Model-Free Reinforcement Learning has achieved meaningful results in stable environments but, to this day, it remains problematic in regime changing environments like financial markets. In contrast, model-based RL is able to capture some…

We present a physics-informed Gaussian Process Regression (GPR) model to predict the phase angle, angular speed, and wind mechanical power from a limited number of measurements. In the traditional data-driven GPR method, the form of the…

This work presents reinforcement learning (RL)-driven data augmentation to improve the generalization of vision-action (VA) models for dexterous grasping. While real-to-sim-to-real frameworks, where a few real demonstrations seed…

Reward-free reinforcement learning (RL) considers the setting where the agent does not have access to a reward function during exploration, but must propose a near-optimal policy for an arbitrary reward function revealed only after…

Reinforcement Learning (RL) is a widely employed machine learning architecture that has been applied to a variety of control problems. However, applications in safety-critical domains require a systematic and formal approach to specifying…

Model-free deep reinforcement learning (RL) agents can learn an effective policy directly from repeated interactions with a black-box environment. However in practice, the algorithms often require large amounts of training experience to…

Setting up and controlling optical systems is often a challenging and tedious task. The high number of degrees of freedom to control mirrors, lenses, or phases of light makes automatic control challenging, especially when the complexity of…

Constructing a classical potential suited to simulate a given atomic system is a remarkably difficult task. This chapter presents a framework under which this problem can be tackled, based on the Bayesian construction of nonparametric force…

We revisit the problem of physics-informed regression, and propose a method that directly computes the state at the prediction point, simultaneously with the derivative and curvature information of the existing samples. We frame each…

When learning simulations for modeling physical phenomena in industrial designs, geometrical variabilities are of prime interest. While classical regression techniques prove effective for parameterized geometries, practical scenarios often…

This article proposes a model-based deep reinforcement learning (DRL) method to design emergency control strategies for short-term voltage stability problems in power systems. Recent advances show promising results in model-free DRL-based…

The application of deep learning methods to speed up the resolution of challenging power flow problems has recently shown very encouraging results. However, power system dynamics are not snap-shot, steady-state operations. These dynamics…