相关论文: CPG-ACTOR: Reinforcement Learning for Central Patt…

Modern quadrupeds are skillful in traversing or even sprinting on uneven terrains in a remote uncontrolled environment. However, survival in the wild requires not only maneuverability, but also the ability to handle potential critical…

Reinforcement learning (RL) has been widely used in text generation to alleviate the exposure bias issue or to utilize non-parallel datasets. The reward function plays an important role in making RL training successful. However, previous…

Reinforcement Learning (RL) has shown great potential in complex control tasks, particularly when combined with deep neural networks within the Actor-Critic (AC) framework. However, in practical applications, balancing exploration, learning…

Legged robots have enormous potential in their range of capabilities, from navigating unstructured terrains to high-speed running. However, designing robust controllers for highly agile dynamic motions remains a substantial challenge for…

Actor learning and critic learning are two components of the outstanding and mostly used Deep Deterministic Policy Gradient (DDPG) reinforcement learning method. Since actor and critic learning plays a significant role in the overall…

One of the most challenging aspects of real-world reinforcement learning (RL) is the multitude of unpredictable and ever-changing distractions that could divert an agent from what was tasked to do in its training environment. While an agent…

Actor-critic (AC) methods are ubiquitous in reinforcement learning. Although it is understood that AC methods are closely related to policy gradient (PG), their precise connection has not been fully characterized previously. In this paper,…

Recent advancements in large language models (LLMs) have enabled understanding webpage contexts, product details, and human instructions. Utilizing LLMs as the foundational architecture for either reward models or policies in reinforcement…

In standard Reinforcement Learning (RL) settings, the interaction between the agent and the environment is typically modeled as a Markov Decision Process (MDP), which assumes that the agent observes the system state instantaneously, selects…

Advances in legged robotics are strongly rooted in animal observations. A clear illustration of this claim is the generalization of Central Pattern Generators (CPG), first identified in the cat spinal cord, to generate cyclic motion in…

Graphical User Interface (GUI) Agents, benefiting from recent advances in multimodal large language models (MLLM), have achieved significant development. However, due to the frequent updates of GUI applications, adapting to new tasks…

Designing rewards for Reinforcement Learning (RL) is challenging because it needs to convey the desired task, be efficient to optimize, and be easy to compute. The latter is particularly problematic when applying RL to robotics, where…

Deep reinforcement learning (RL) has been endowed with high expectations in tackling challenging manipulation tasks in an autonomous and self-directed fashion. Despite the significant strides made in the development of reinforcement…

Heave compensation is an essential part in various offshore operations. It is used in various applications, which include on-loading or off-loading systems, offshore drilling, landing helicopter on oscillating structures, and deploying and…

Designing reward functions for efficiently guiding reinforcement learning (RL) agents toward specific behaviors is a complex task. This is challenging since it requires the identification of reward structures that are not sparse and that…

Reinforcement learning has been successfully applied to the problem of tuning PID controllers in several applications. The existing methods often utilize function approximation, such as neural networks, to update the controller parameters…

Low-precision training has become a popular approach to reduce compute requirements, memory footprint, and energy consumption in supervised learning. In contrast, this promising approach has not yet enjoyed similarly widespread adoption…

Interactive multimodal agents must convert raw visual observations into coherent sequences of language-conditioned actions -- a capability that current vision-language models (VLMs) still lack. Earlier reinforcement-learning (RL) efforts…

Large-scale demonstration data has powered key breakthroughs in robot manipulation, but collecting that data remains costly and time-consuming. We present Constraint-Preserving Data Generation (CP-Gen), a method that uses a single expert…

Learning controllers that reproduce legged locomotion in nature has been a long-time goal in robotics and computer graphics. While yielding promising results, recent approaches are not yet flexible enough to be applicable to legged systems…