相关论文: Recurrent Off-policy Baselines for Memory-based Co…

This paper concerns the central issues of model robustness and sample efficiency in offline reinforcement learning (RL), which aims to learn to perform decision making from history data without active exploration. Due to uncertainties and…

Model-free Reinforcement Learning (RL) offers an attractive approach to learn control policies for high-dimensional systems, but its relatively poor sample complexity often forces training in simulated environments. Even in simulation,…

This paper proposes an off-line algorithm, called Recurrent Model Predictive Control (RMPC), to solve general nonlinear finite-horizon optimal control problems. Unlike traditional Model Predictive Control (MPC) algorithms, it can make full…

Reinforcement learning (RL) is a branch of machine learning which is employed to solve various sequential decision making problems without proper supervision. Due to the recent advancement of deep learning, the newly proposed Deep-RL…

In recent years, on-policy reinforcement learning (RL) has been successfully applied to many different continuous control tasks. While RL algorithms are often conceptually simple, their state-of-the-art implementations take numerous low-…

Offline reinforcement learning (RL) enables learning effective policies from fixed datasets without any environment interaction. Existing methods typically employ policy constraints to mitigate the distribution shift encountered during…

Traditional on-policy Reinforcement Learning with Verifiable Rewards (RLVR) frameworks suffer from experience waste and reward homogeneity, which directly hinders learning efficiency on difficult samples during large language models…

Experience replay enables reinforcement learning agents to memorize and reuse past experiences, just as humans replay memories for the situation at hand. Contemporary off-policy algorithms either replay past experiences uniformly or utilize…

Reinforcement learning (RL) is currently one of the most prominent methods for optimizing dynamical systems, with breakthrough results across various fields. The framework is based on the concept of a Markov decision process (MDP), leading…

The performance of reinforcement learning depends upon designing an appropriate action space, where the effect of each action is measurable, yet, granular enough to permit flexible behavior. So far, this process involved non-trivial user…

Reinforcement learning (RL) is a powerful data-driven control method that has been largely explored in autonomous driving tasks. However, conventional RL approaches learn control policies through trial-and-error interactions with the…

While classic control theory offers state of the art solutions in many problem scenarios, it is often desired to improve beyond the structure of such solutions and surpass their limitations. To this end, residual policy learning (RPL)…

Reinforcement learning (RL) is a core approach for robot control when expert demonstrations are unavailable. On-policy methods such as Proximal Policy Optimization (PPO) are widely used for their stability, but their reliance on narrowly…

This paper demonstrates that continual relearning of control policies using incremental deep reinforcement learning (RL) can improve policy learning for non-stationary processes. We demonstrate this approach for a data-driven 'smart…

Partially observed control problems are a challenging aspect of reinforcement learning. We extend two related, model-free algorithms for continuous control -- deterministic policy gradient and stochastic value gradient -- to solve partially…

By reusing data throughout training, off-policy deep reinforcement learning algorithms offer improved sample efficiency relative to on-policy approaches. For continuous action spaces, the most popular methods for off-policy learning include…

Offline reinforcement learning (RL) refers to the problem of learning policies entirely from a large batch of previously collected data. This problem setting offers the promise of utilizing such datasets to acquire policies without any…

Sample efficiency is one of the most critical issues for online reinforcement learning (RL). Existing methods achieve higher sample efficiency by adopting model-based methods, Q-ensemble, or better exploration mechanisms. We, instead,…

Autonomous UAV inspection of confined industrial infrastructure, such as ventilation ducts, demands robust navigation policies where collisions are unacceptable. While Deep Reinforcement Learning (DRL) offers a powerful paradigm for…

This study presents a novel approach to addressing offline reinforcement learning (RL) problems by reframing them as regression tasks that can be effectively solved using Decision Trees. Mainly, we introduce two distinct frameworks:…