相关论文: Optimizing Deep Reinforcement Learning for Adaptiv…

Many state-of-the art robotic applications utilize series elastic actuators (SEAs) with closed-loop force control to achieve complex tasks such as walking, lifting, and manipulation. Model-free PID control methods are more prone to…

Reinforcement learning (RL) is always the preferred embodiment to construct the control strategy of complex tasks, like asymmetric assembly tasks. However, the convergence speed of reinforcement learning severely restricts its practical…

Most methods in reinforcement learning use a Policy Gradient (PG) approach to learn a parametric stochastic policy that maps states to actions. The standard approach is to implement such a mapping via a neural network (NN) whose parameters…

Recent advancements in reinforcement learning from human feedback have shown that utilizing fine-grained token-level reward models can substantially enhance the performance of Proximal Policy Optimization (PPO) in aligning large language…

Generalizability and stability are two key objectives for operating reinforcement learning (RL) agents in the real world. Designing RL algorithms that optimize these objectives can be a costly and painstaking process. This paper presents…

Decentralized multi-agent path finding (MAPF) routes a team of agents on a shared grid, each acting from its own local view. The standard solution trains one shared neural policy with Proximal Policy Optimization (PPO), a popular on-policy…

This paper deals with robotic lever control using Explainable Deep Reinforcement Learning. First, we train a policy by using the Deep Deterministic Policy Gradient algorithm and the Hindsight Experience Replay technique, where the goal is…

Despite the potential of reinforcement learning (RL) for building general-purpose robotic systems, training RL agents to solve robotics tasks still remains challenging due to the difficulty of exploration in purely continuous action spaces.…

Motivated by applications in risk-sensitive reinforcement learning, we study mean-variance optimization in a discounted reward Markov Decision Process (MDP). Specifically, we analyze a Temporal Difference (TD) learning algorithm with linear…

Deep reinforcement learning is prone to overfitting, and traditional benchmarks such as Atari 2600 benchmark can exacerbate this problem. The Obstacle Tower Challenge addresses this by using randomized environments and separate seeds for…

In this paper, we present a cross-entropy optimization method for hyperparameter optimization in stochastic gradient-based approaches to train deep neural networks. The value of a hyperparameter of a learning algorithm often has great…

Advances in Reinforcement Learning (RL) have demonstrated data efficiency and optimal control over large state spaces at the cost of scalable performance. Genetic methods, on the other hand, provide scalability but depict hyperparameter…

Deep reinforcement learning has shown promise in trade execution, yet its use in low-frequency factor portfolio construction remains under-explored. A key obstacle is the high-dimensional, unbalanced state space created by stocks that enter…

On-policy reinforcement learning (RL) algorithms are widely used for their strong asymptotic performance and training stability, but they struggle to scale with larger batch sizes, as additional parallel environments yield redundant data…

Humans and animals are capable of quickly learning new behaviours to solve new tasks. Yet, we often forget that they also rely on a highly specialized morphology that co-adapted with motor control throughout thousands of years. Although…

We consider the distributed pose-graph optimization (PGO) problem, which is fundamental in accurate trajectory estimation in multi-robot simultaneous localization and mapping (SLAM). Conventional iterative approaches linearize a highly…

This paper proposes a new Reinforcement Learning (RL) based control architecture for quadrotors. With the literature focusing on controlling the four rotors' RPMs directly, this paper aims to control the quadrotor's thrust vector. The RL…

In this paper, we explore the ability of a robot arm to learn the underlying operation space defined by the positions (x, y, z) that the arm's end-effector can reach, including disturbances, by deploying and thoroughly evaluating a Spiking…

Actor-critic (AC) algorithms are known for their efficacy and high performance in solving reinforcement learning problems, but they also suffer from low sampling efficiency. An AC based policy optimization process is iterative and needs to…

The increasing importance of robots and automation creates a demand for learnable controllers which can be obtained through various approaches such as Evolutionary Algorithms (EAs) or Reinforcement Learning (RL). Unfortunately, these two…