相关论文: Domain Randomization via Entropy Maximization

This paper considers random access in deadline-constrained broadcasting with frame-synchronized traffic. To enhance the maximum achievable timely delivery ratio (TDR), we define a dynamic control scheme that allows each active node to…

Deep reinforcement learning (DRL) is one of the promising approaches for introducing robots into complicated environments. The recent remarkable progress of DRL stands on regularization of policy, which allows the policy to improve stably…

While the idea of robust dynamic programming (DP) is compelling for systems affected by uncertainty, addressing worst-case disturbances generally results in excessive conservatism. This paper introduces a method for constructing control…

Despite superior performance in many situations, deep neural networks are often vulnerable to adversarial examples and distribution shifts, limiting model generalization ability in real-world applications. To alleviate these problems,…

Learning robot control policies from physics simulations is of great interest to the robotics community as it may render the learning process faster, cheaper, and safer by alleviating the need for expensive real-world experiments. However,…

This article proposes an improved trajectory optimization approach for stochastic optimal control of dynamical systems affected by measurement noise by combining optimal control with maximum likelihood techniques to improve the reduction of…

Delayed Markov decision processes (DMDPs) fulfill the Markov property by augmenting the state space of agents with a finite time window of recently committed actions. In reliance on these state augmentations, delay-resolved reinforcement…

Scaling data volume and diversity is critical for generalizing embodied intelligence. While synthetic data generation offers a scalable alternative to expensive physical data acquisition, transferring robotic manipulation policies from…

Decision-making under distribution shift is a central challenge in reinforcement learning (RL), where training and deployment environments differ. We study this problem through the lens of robust Markov decision processes (RMDPs), which…

Modern reinforcement learning methods suffer from low sample efficiency and unsafe exploration, making it infeasible to train robotic policies entirely on real hardware. In this work, we propose to address the problem of sim-to-real domain…

Deep learning has revolutionized neuroimage analysis by delivering unprecedented speed and accuracy. However, the narrow scope of many training datasets constrains model robustness and generalizability. This challenge is particularly acute…

Dynamic real-time optimization (DRTO) is a challenging task due to the fact that optimal operating conditions must be computed in real time. The main bottleneck in the industrial application of DRTO is the presence of uncertainty. Many…

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…

Deep reinforcement learning (DRL) has gained widespread adoption in control and decision-making tasks due to its strong performance in dynamic environments. However, DRL agents are vulnerable to noisy observations and adversarial attacks,…

Distributionally robust optimization (DRO) provides a framework for training machine learning models that are able to perform well on a collection of related data distributions (the "uncertainty set"). This is done by solving a min-max…

Deep reinforcement learning (DRL) has achieved groundbreaking successes in a wide variety of robotic applications. A natural consequence is the adoption of this paradigm for safety-critical tasks, where human safety and expensive hardware…

We investigate the fundamental performance limitations of learning algorithms in several Domain Generalisation (DG) settings. Motivated by the difficulty with which previously proposed methods have in reliably outperforming Empirical Risk…

With the increasing pace of automation, modern robotic systems need to act in stochastic, non-stationary, partially observable environments. A range of algorithms for finding parameterized policies that optimize for long-term average…

Despite the significant progress of deep reinforcement learning (RL) in solving sequential decision making problems, RL agents often overfit to training environments and struggle to adapt to new, unseen environments. This prevents robust…

We introduce Dynamic Dropout, a novel regularization technique designed to enhance the training efficiency of Transformer models by dynamically adjusting the dropout rate based on training epochs or validation loss improvements. This…