相关论文: Improving Actor-Critic Reinforcement Learning via …

Model-based reinforcement learning (MBRL) improves sample efficiency by leveraging learned dynamics models for policy optimization. However, the effectiveness of methods such as actor-critic is often limited by compounding model errors,…

\Ac{MPC} and \ac{RL} are two powerful control strategies with, arguably, complementary advantages. In this work, we show how actor-critic \ac{RL} techniques can be leveraged to improve the performance of \ac{MPC}. The \ac{RL} critic is used…

We focus on a simulation-based optimization problem of choosing the best design from the feasible space. Although the simulation model can be queried with finite samples, its internal processing rule cannot be utilized in the optimization…

Actor-critic (AC) methods are widely used in reinforcement learning (RL) and benefit from the flexibility of using any policy gradient method as the actor and value-based method as the critic. The critic is usually trained by minimizing the…

Reinforcement learning, mathematically described by Markov Decision Problems, may be approached either through dynamic programming or policy search. Actor-critic algorithms combine the merits of both approaches by alternating between steps…

Actor-critic algorithms learn an explicit policy (actor), and an accompanying value function (critic). The actor performs actions in the environment, while the critic evaluates the actor's current policy. However, despite their stability…

Value function based reinforcement learning (RL) algorithms, for example, $Q$-learning, learn optimal policies from datasets of actions, rewards, and state transitions. However, when the underlying state transition dynamics are stochastic…

In this work, we propose a multi-agent actor-critic reinforcement learning (RL) algorithm to accelerate the multi-level Monte Carlo Markov Chain (MCMC) sampling algorithms. The policies (actors) of the agents are used to generate the…

Automated vehicle control using reinforcement learning (RL) has attracted significant attention due to its potential to learn driving policies through environment interaction. However, RL agents often face training challenges in sample…

Model-Free Reinforcement Learning (MFRL), leveraging the policy gradient theorem, has demonstrated considerable success in continuous control tasks. However, these approaches are plagued by high gradient variance due to zeroth-order…

Warm-Start reinforcement learning (RL), aided by a prior policy obtained from offline training, is emerging as a promising RL approach for practical applications. Recent empirical studies have demonstrated that the performance of Warm-Start…

Recent advances in deep Reinforcement Learning (RL) have created unprecedented opportunities for intelligent automation, where a machine can autonomously learn an optimal policy for performing a given task. However, current deep RL…

This paper introduces a novel reinforcement learning (RL) strategy designed to facilitate rapid autonomy transfer by utilizing pre-trained critic value functions from multiple environments. Unlike traditional methods that require extensive…

Offline reinforcement learning (RL) is a promising approach for many control applications but faces challenges such as limited data coverage and value function overestimation. In this paper, we propose an implicit actor-critic (iAC)…

Providing densely shaped reward functions for RL algorithms is often exceedingly challenging, motivating the development of RL algorithms that can learn from easier-to-specify sparse reward functions. This sparsity poses new exploration…

Actor-critic algorithms have become a cornerstone in reinforcement learning (RL), leveraging the strengths of both policy-based and value-based methods. Despite recent progress in understanding their statistical efficiency, no existing work…

A key open challenge in agile quadrotor flight is how to combine the flexibility and task-level generality of model-free reinforcement learning (RL) with the structure and online replanning capabilities of model predictive control (MPC),…

We study robust reinforcement learning (RL) with the goal of determining a well-performing policy that is robust against model mismatch between the training simulator and the testing environment. Previous policy-based robust RL algorithms…

Trajectory Optimization (TO) and Reinforcement Learning (RL) are powerful and complementary tools to solve optimal control problems. On the one hand, TO can efficiently compute locally-optimal solutions, but it tends to get stuck in local…

Safety is essential for reinforcement learning (RL) applied in real-world situations. Chance constraints are suitable to represent the safety requirements in stochastic systems. Previous chance-constrained RL methods usually have a low…