相关论文: Variance Reduction based Partial Trajectory Reuse …

Vertical Symbolic Regression (VSR) recently has been proposed to expedite the discovery of symbolic equations with many independent variables from experimental data. VSR reduces the search spaces following the vertical discovery path by…

The ability of Gaussian processes (GPs) to predict the behavior of dynamical systems as a more sample-efficient alternative to parametric models seems promising for real-world robotics research. However, the computational complexity of GPs…

Adaptive importance sampling for stochastic optimization is a promising approach that offers improved convergence through variance reduction. In this work, we propose a new framework for variance reduction that enables the use of mixtures…

Reinforcement learning (RL) has become an increasingly active area of research in recent years. Although there are many algorithms that allow an agent to solve tasks efficiently, they often ignore the possibility that prior experience…

In this paper, we aim to maximize the SSR for heterogeneous service demands in the cooperative MEC-assisted RAN slicing system by jointly considering the multi-node computing resources cooperation and allocation, the transmission resource…

A residual deep reinforcement learning (RDRL) approach is proposed by integrating DRL with model-based optimization for inverter-based volt-var control in active distribution networks when the accurate power flow model is unknown. RDRL…

Recently, GRPO-based reinforcement learning has shown remarkable progress in optimizing flow-matching models, effectively improving their alignment with task-specific rewards. Within these frameworks, the policy update relies on…

Our work focuses on training RL agents on multiple visually diverse environments to improve observational generalization performance. In prior methods, policy and value networks are separately optimized using a disjoint network architecture…

Federated reinforcement learning (RL) enables collaborative decision making of multiple distributed agents without sharing local data trajectories. In this work, we consider a multi-task setting, in which each agent has its own private…

Deep Policy Gradient (PG) algorithms employ value networks to drive the learning of parameterized policies and reduce the variance of the gradient estimates. However, value function approximation gets stuck in local optima and struggles to…

This paper presents a technique for trajectory planning based on continuously parameterized high-level actions (motion primitives) of variable duration. This technique leverages deep reinforcement learning (Deep RL) to formulate a policy…

Recent advances in constrained reinforcement learning (RL) have endowed reinforcement learning with certain safety guarantees. However, deploying existing constrained RL algorithms in continuous control tasks with general hard constraints…

Back-stepping experience replay (BER) is a reinforcement learning technique that can accelerate learning efficiency in reversible environments. BER trains an agent with generated back-stepping transitions of collected experiences and normal…

The paradigm of learning-based robotics holds immense promise, yet its translation to real-world applications is critically hindered by the sample inefficiency and brittleness of conventional model-free reinforcement learning algorithms. In…

Markov reward processes (MRPs) are used to model stochastic phenomena arising in operations research, control engineering, robotics, and artificial intelligence, as well as communication and transportation networks. In many of these cases,…

Reinforcement Learning with Verifiable Rewards (RLVR) has emerged as an indispensable paradigm for enhancing reasoning in Large Language Models (LLMs). However, standard policy optimization methods, such as Group Relative Policy…

In many sequential decision-making problems we may want to manage risk by minimizing some measure of variability in rewards in addition to maximizing a standard criterion. Variance related risk measures are among the most common…

Continual learning (CL) aims to develop techniques by which a single model adapts to an increasing number of tasks encountered sequentially, thereby potentially leveraging learnings across tasks in a resource-efficient manner. A major…

Reinforcement learning (RL) has become a powerful tool for post-training visual generative models, with Group Relative Policy Optimization (GRPO) increasingly used to align generators with human preferences. However, existing GRPO pipelines…

Preference-based Reinforcement Learning (PbRL) provides a way to learn high-performance policies in environments where the reward signal is hard to specify, avoiding heuristic and time-consuming reward design. However, PbRL can suffer from…