相关论文: Laboratory Experiments of Model-based Reinforcemen…

The increasing complexity of modern applications demands wireless networks capable of real time adaptability and efficient resource management. The Open Radio Access Network (O-RAN) architecture, with its RAN Intelligent Controller (RIC)…

Reinforcement Learning (RL) has achieved impressive results in robotics, yet high-performing pipelines remain highly task-specific, with little reuse of prior data. Offline Model-based RL (MBRL) offers greater data efficiency by training…

Attitude control of fixed-wing unmanned aerial vehicles (UAVs) is a difficult control problem in part due to uncertain nonlinear dynamics, actuator constraints, and coupled longitudinal and lateral motions. Current state-of-the-art…

Reinforcement learning (RL) is a promising method to solve control problems. However, model-free RL algorithms are sample inefficient and require thousands if not millions of samples to learn optimal control policies. A major source of…

Visual model-based RL methods typically encode image observations into low-dimensional representations in a manner that does not eliminate redundant information. This leaves them susceptible to spurious variations -- changes in…

Recent advances in behavior cloning (BC) have enabled impressive visuomotor control policies. However, these approaches are limited by the quality of human demonstrations, the manual effort required for data collection, and the diminishing…

There is growing interest in reinforcement learning (RL) methods that leverage the simulator's derivatives to improve learning efficiency. While early gradient-based approaches have demonstrated superior performance compared to…

This article introduces a novel framework for data-driven linear quadratic regulator (LQR) design. First, we introduce a reinforcement learning paradigm for on-policy data-driven LQR, where exploration and exploitation are simultaneously…

As power systems are undergoing a significant transformation with more uncertainties, less inertia and closer to operation limits, there is increasing risk of large outages. Thus, there is an imperative need to enhance grid emergency…

As learning-based robotic controllers are typically trained offline and deployed with fixed parameters, their ability to cope with unforeseen changes during operation is limited. Biologically inspired, this work presents a framework for…

Model-based reinforcement learning (MBRL) approaches rely on discrete-time state transition models whereas physical systems and the vast majority of control tasks operate in continuous-time. To avoid time-discretization approximation of the…

As the number of spacecraft in orbit continues to increase, it is becoming more challenging for human operators to manage each mission. As a result, autonomous control methods are needed to reduce this burden on operators. One method of…

Optimal control of the future is the next frontier for AI. Current approaches to this problem are typically rooted in reinforcement learning (RL). RL is mathematically distinct from supervised learning, which has been the main workhorse for…

The paper presents a technique using reinforcement learning (RL) to adapt the control gains of a quadcopter controller. Specifically, we employed Proximal Policy Optimization (PPO) to train a policy which adapts the gains of a cascaded…

Model-based Reinforcement Learning (MBRL) allows data-efficient learning which is required in real world applications such as robotics. However, despite the impressive data-efficiency, MBRL does not achieve the final performance of…

Reinforcement learning (RL) plays a central role in large language model (LLM) post-training. Among existing approaches, Group Relative Policy Optimization (GRPO) is widely used, especially for RL with verifiable rewards (RLVR) fine-tuning.…

Autonomous Unmanned Aerial Vehicles (UAVs) have revolutionized industries through their versatility with applications including aerial surveillance, search and rescue, agriculture, and delivery. Their autonomous capabilities offer unique…

Remote Electrical Tilt (RET) optimization is an efficient method for adjusting the vertical tilt angle of Base Stations (BSs) antennas in order to optimize Key Performance Indicators (KPIs) of the network. Reinforcement Learning (RL)…

Reinforcement Learning (RL) is notoriously data-inefficient, which makes training on a real robot difficult. While model-based RL algorithms (world models) improve data-efficiency to some extent, they still require hours or days of…

Inspired by the recent successes of Inverse Optimization (IO) across various application domains, we propose a novel offline Reinforcement Learning (ORL) algorithm for continuous state and action spaces, leveraging the convex loss function…