相关论文: Learning Compositional Neural Programs for Continu…

We are motivated by the real challenges presented in a human-robot system to develop new designs that are efficient at data level and with performance guarantees such as stability and optimality at systems level. Existing…

We present differentiable predictive control (DPC), a method for learning constrained neural control policies for linear systems with probabilistic performance guarantees. We employ automatic differentiation to obtain direct policy…

We propose a neural information processing system which is obtained by re-purposing the function of a biological neural circuit model, to govern simulated and real-world control tasks. Inspired by the structure of the nervous system of the…

Children can rapidly generalize compositionally-constructed rules to unseen test sets. On the other hand, deep reinforcement learning (RL) agents need to be trained over millions of episodes, and their ability to generalize to unseen…

Self-organizing networks face challenges from complex parameter interdependencies and conflicting objectives. This study introduces two compositional learning approaches-Compositional Deep Reinforcement Learning (CDRL) and Compositional…

We propose a novel approach to solving input- and state-constrained parametric mixed-integer optimal control problems using Differentiable Predictive Control (DPC). Our approach follows the differentiable programming paradigm by learning an…

This paper proposes a novel sparse principal component analysis algorithm with self-learning ability for successive modes, where synaptic intelligence is employed to measure the importance of variables and a regularization term is added to…

Many aspects of human reasoning, including language, require learning rules from very little data. Humans can do this, often learning systematic rules from very few examples, and combining these rules to form compositional rule-based…

Model predictive control (MPC) is a powerful, optimization-based approach for controlling dynamical systems. However, the computational complexity of online optimization can be problematic on embedded devices. Especially, when we need to…

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…

Continual learning aims to acquire new tasks while preserving performance on previously learned ones, but most methods struggle with catastrophic forgetting. Existing approaches typically treat all layers uniformly, often trading stability…

Humans are able to perform a myriad of sophisticated tasks by drawing upon skills acquired through prior experience. For autonomous agents to have this capability, they must be able to extract reusable skills from past experience that can…

We propose a compositional approach to synthesize policies for networks of continuous-space stochastic control systems with unknown dynamics using model-free reinforcement learning (RL). The approach is based on implicitly abstracting each…

The ability to continually learn, retain and deploy skills to accomplish goals is a key feature of intelligent and efficient behavior. However, the neural mechanisms facilitating the continual learning and flexible (re-)composition of…

The utility of learning a dynamics/world model of the environment in reinforcement learning has been shown in a many ways. When using neural networks, however, these models suffer catastrophic forgetting when learned in a lifelong or…

We present a deep reinforcement learning (deep RL) algorithm that consists of learning-based motion planning and imitation to tackle challenging control problems. Deep RL has been an effective tool for solving many high-dimensional…

We develop a learning-based algorithm for the distributed formation control of networked multi-agent systems governed by unknown, nonlinear dynamics. Most existing algorithms either assume certain parametric forms for the unknown dynamic…

The successful application of general reinforcement learning algorithms to real-world robotics applications is often limited by their high data requirements. We introduce Regularized Hierarchical Policy Optimization (RHPO) to improve…

Sequential fine-tuning and multi-task learning are methods aiming to incorporate knowledge from multiple tasks; however, they suffer from catastrophic forgetting and difficulties in dataset balancing. To address these shortcomings, we…

We introduce an algorithm for model-based hierarchical reinforcement learning to acquire self-contained transition and reward models suitable for probabilistic planning at multiple levels of abstraction. We call this framework Planning with…