相关论文: Preview Reference Governors: A Constraint Manageme…

Reinforcement learning (RL) has become a promising paradigm for optimizing Retrieval-Augmented Generation (RAG) in complex reasoning tasks. However, traditional outcome-based RL approaches often suffer from reward sparsity and inefficient…

Boom cranes are among the most used cranes to lift heavy loads. Although fairly simple mechanically, from the control viewpoint this kind of crane is a nonlinear underactuated system which presents several challenges, especially when…

Explicit reference governor (ERG) is an add-on unit that provides constraint handling capability to pre-stabilized systems. The main idea behind ERG is to manipulate the derivative of the applied reference in continuous time such that the…

In this paper, we consider the problem of learning safe policies for probabilistic-constrained reinforcement learning (RL). Specifically, a safe policy or controller is one that, with high probability, maintains the trajectory of the agent…

This paper focuses on a passivity-based distributed reference governor (RG) applied to a pre-stabilized mobile robotic network. The novelty of this paper lies in the method used to solve the RG problem, where a passivity-based distributed…

Safe navigation around obstacles is a fundamental challenge for highly dynamic robots. The state-of-the-art approach for adapting simple reference path planners to complex robot dynamics using trajectory optimization and tracking control is…

Reinforcement learning with human feedback for aligning large language models (LLMs) trains a reward model typically using ranking loss with comparison pairs.However, the training procedure suffers from an inherent problem: the uncontrolled…

Continual learning aims to avoid catastrophic forgetting and effectively leverage learned experiences to master new knowledge. Existing gradient projection approaches impose hard constraints on the optimization space for new tasks to…

This paper introduces an explicit reference governor-based control scheme tailored for addressing the velocity-free spacecraft attitude maneuver problem. This problem is subject to specific constraints, namely the pointing constraint,…

The paper addresses the problem of vehicle rollover avoidance using reference governors applied to modify the driver steering input in vehicles with an active steering system. Several reference governor designs are presented and tested with…

Reinforcement learning is essential for neural architecture search and hyperparameter optimization, but the conventional approaches impede widespread use due to prohibitive time and computational costs. Inspired by DeepSeek-V3 multi-token…

Generative Recommenders (GRs), exemplified by the Hierarchical Sequential Transduction Unit (HSTU), have emerged as a powerful paradigm for modeling long user interaction sequences. However, we observe that their "flat-sequence" assumption…

In this work, we propose a control scheme for linear systems subject to pointwise in time state and input constraints that aims to minimize time-varying and a priori unknown cost functions. The proposed controller is based on online convex…

Mechanical search (MS) in cluttered environments remains a significant challenge for autonomous manipulators, requiring long-horizon planning and robust state estimation under occlusions and partial observability. In this work, we introduce…

Reinforcement Learning (RL) has emerged as a powerful framework for sequential decision-making in dynamic environments, particularly when system parameters are unknown. This paper investigates RL-based control for entropy-regularized…

A predictive triggering (PT) framework for the distributed control of resource constrained multi-agent systems is proposed. By predicting future communication demands and deriving a probabilistic priority measure, the PT framework is able…

Hierarchical reinforcement learning (HRL) decomposes the policy into a manager and a worker, enabling long-horizon planning but introducing a performance gap on tasks requiring agility. We identify a root cause: in subgoal-based HRL, the…

Specifying rewards for reinforcement learned (RL) agents is challenging. Preference-based RL (PbRL) mitigates these challenges by inferring a reward from feedback over sets of trajectories. However, the effectiveness of PbRL is limited by…

Recent generative models based on score matching and flow matching have significantly advanced generation tasks, but their potential in discriminative tasks remains underexplored. Previous approaches, such as generative classifiers, have…

The goal of a recommendation system is to model the relevance between each user and each item through the user-item interaction history, so that maximize the positive samples score and minimize negative samples. Currently, two popular loss…