相关论文: HyperPPO: A scalable method for finding small poli…

We introduce a new algorithm for reinforcement learning called Maximum aposteriori Policy Optimisation (MPO) based on coordinate ascent on a relative entropy objective. We show that several existing methods can directly be related to our…

We tackle the problem of generalization to unseen configurations for dynamic tasks in the real world while learning from high-dimensional image input. The family of nonlinear dynamical system-based methods have successfully demonstrated…

Learning a universal policy across different robot morphologies can significantly improve learning efficiency and generalization in continuous control. However, it poses a challenging multi-task reinforcement learning problem, as the…

Chain-of-Thought (CoT) prompting has recently shown significant promise across various NLP and computer vision tasks by explicitly generating intermediate reasoning steps. However, we find that reinforcement learning (RL)-based fine-tuned…

We propose a decentralized reinforcement learning solution for multi-agent shepherding of non-cohesive targets using policy-gradient methods. Our architecture integrates target-selection with target-driving through Proximal Policy…

Physics-informed neural networks (PINNs) have been widely used to develop neural surrogates for solutions of Partial Differential Equations. A drawback of PINNs is that they have to be retrained with every change in initial-boundary…

We present Memory Augmented Policy Optimization (MAPO), a simple and novel way to leverage a memory buffer of promising trajectories to reduce the variance of policy gradient estimate. MAPO is applicable to deterministic environments with…

Over the past decade, the use of machine learning has increased exponentially. Models are far more complex than ever before, growing to gargantuan sizes and housing millions of weights. Unfortunately, the fact that large models have become…

Reinforcement Learning with Verifiable Rewards (RLVR) has recently emerged as a powerful paradigm for facilitating the self-improvement of large language models (LLMs), particularly in the domain of complex reasoning tasks. However,…

Reinforcement learning has emerged as a dominant technique for fine-tuning the behavior of large language models, with policy optimization (PO) algorithms such as GRPO, DAPO, and Dr. GRPO emerging in rapid succession to advance…

Model predictive control can optimally deal with nonlinear systems under consideration of constraints. The control performance depends on the model accuracy and the prediction horizon. Recent advances propose to use reinforcement learning…

The effectiveness of many optimal network control algorithms (e.g., BackPressure) relies on the premise that all of the nodes are fully controllable. However, these algorithms may yield poor performance in a partially-controllable network…

Reinforcement learning (RL) approaches for Large Language Models (LLMs) frequently use on-policy algorithms, such as PPO or GRPO. However, policy lag from distributed training architectures and differences between the training and inference…

Humanoid robots, with their human-like morphology, hold great potential for industrial applications. However, existing loco-manipulation methods primarily focus on dexterous manipulation, falling short of the combined requirements for…

Model-based reinforcement learning approaches leverage a forward dynamics model to support planning and decision making, which, however, may fail catastrophically if the model is inaccurate. Although there are several existing methods…

We introduce PPOPT - Proximal Policy Optimization using Pretraining, a novel, model-free deep-reinforcement-learning algorithm that leverages pretraining to achieve high training efficiency and stability on very small training samples in…

State-of-the-art reinforcement learning algorithms predominantly learn a policy from either a numerical state vector or images. Both approaches generally do not take structural knowledge of the task into account, which is especially…

Designing motion control and planning algorithms for multilift systems remains challenging due to the complexities of dynamics, collision avoidance, actuator limits, and scalability. Existing methods that use optimization and distributed…

Hierarchical Reinforcement Learning (HRL) algorithms have been demonstrated to perform well on high-dimensional decision making and robotic control tasks. However, because they solely optimize for rewards, the agent tends to search the same…

This study evaluates the performance of classical and modern control methods for real-world Cable-Driven Parallel Robots (CDPRs), focusing on underconstrained systems with limited time discretization. A comparative analysis is conducted…