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Likelihood-based policy gradient methods are the dominant approach for training robot control policies from rewards. These methods rely on differentiable action likelihoods, which constrain policy outputs to simple distributions like…

The use of robotics in controlled environments has flourished over the last several decades and training robots to perform tasks using control strategies developed from dynamical models of their hardware have proven very effective. However,…

Deep reinforcement learning (DRL) has been proven to be a powerful paradigm for learning complex control policy autonomously. Numerous recent applications of DRL in robotic grasping have successfully trained DRL robotic agents end-to-end,…

In real-world applications of reinforcement learning (RL), noise from inherent stochasticity of environments is inevitable. However, current policy evaluation algorithms, which plays a key role in many RL algorithms, are either prone to…

Reinforcement Learning (RL) has shown great potential in complex control tasks, particularly when combined with deep neural networks within the Actor-Critic (AC) framework. However, in practical applications, balancing exploration, learning…

This paper proposes a novel formulation for reinforcement learning (RL) with large language models, explaining why and under what conditions the true sequence-level reward can be optimized via a surrogate token-level objective in policy…

In recent years significant progress has been made in dealing with challenging problems using reinforcement learning.Despite its great success, reinforcement learning still faces challenge in continuous control tasks. Conventional methods…

Reinforcement Learning (RL) and Deep Reinforcement Learning (DRL) have advanced rapidly in recent years and have been successfully applied to e-learning environments like intelligent tutoring systems (ITSs). Despite great success, the…

In robotics, contemporary strategies are learning-based, characterized by a complex black-box nature and a lack of interpretability, which may pose challenges in ensuring stability and safety. To address these issues, we propose integrating…

Vanilla Reinforcement Learning (RL) can efficiently solve complex tasks but does not provide any guarantees on system behavior. To bridge this gap, we propose a three-step safe RL procedure for continuous action spaces that provides…

Deep reinforcement learning has been recognized as an efficient technique to design optimal strategies for different complex systems without prior knowledge of the control landscape. To achieve a fast and precise control for quantum…

Gradient clipping is widely used to stabilize deep network training, but its formulation as a hard, fixed threshold limits flexibility and ignores gradient distribution dynamics. We propose SPAMP (Statistical Per-layer Adaptive Modulation…

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.…

Deep Reinforcement Learning (DRL) algorithms have recently made significant strides in improving network performance. Nonetheless, their practical use is still limited in the absence of safe exploration and safe decision-making. In the…

The wall cycle in wall-bounded turbulent flows is a complex turbulence regeneration mechanism that remains not fully understood. This study explores the potential of deep reinforcement learning (DRL) for managing the wall regeneration cycle…

This paper deals with distributed policy optimization in reinforcement learning, which involves a central controller and a group of learners. In particular, two typical settings encountered in several applications are considered:…

In this paper, we deal with the reality gap from a novel perspective, targeting transferring Deep Reinforcement Learning (DRL) policies learned in simulated environments to the real-world domain for visual control tasks. Instead of adopting…

Soft robotic manipulators offer operational advantage due to their compliant and deformable structures. However, their inherently nonlinear dynamics presents substantial challenges. Traditional analytical methods often depend on simplifying…

Model-free deep reinforcement learning (RL) algorithms have been widely used for a range of complex control tasks. However, slow convergence and sample inefficiency remain challenging problems in RL, especially when handling continuous and…

This paper implements deep reinforcement learning (DRL) for spacecraft reorientation control with a single pointing keep-out zone. The Soft Actor-Critic (SAC) algorithm is adopted to handle continuous state and action space. A new state…