相关论文: Optimizing TD3 for 7-DOF Robotic Arm Grasping: Ove…

Deep reinforcement learning (DRL) faces significant challenges in addressing the hard-exploration problems in tasks with sparse or deceptive rewards and large state spaces. These challenges severely limit the practical application of DRL.…

Combining off-policy reinforcement learning methods with function approximators such as neural networks has been found to lead to overestimation of the value function and sub-optimal solutions. Improvement such as TD3 has been proposed to…

Reinforcement learning in discrete-continuous hybrid action spaces presents fundamental challenges for robotic manipulation, where high-level task decisions and low-level joint-space execution must be jointly optimized. Existing approaches…

Model-free continuous control for robot navigation tasks using Deep Reinforcement Learning (DRL) that relies on noisy policies for exploration is sensitive to the density of rewards. In practice, robots are usually deployed in cluttered…

Recent exploration methods have proven to be a recipe for improving sample-efficiency in deep reinforcement learning (RL). However, efficient exploration in high-dimensional observation spaces still remains a challenge. This paper presents…

Empowered by deep neural networks, deep reinforcement learning (DRL) has demonstrated tremendous empirical successes in various domains, including games, health care, and autonomous driving. Despite these advancements, DRL is still…

Deep Reinforcement Learning (DRL) has shown its promising capabilities to learn optimal policies directly from trial and error. However, learning can be hindered if the goal of the learning, defined by the reward function, is "not optimal".…

Evolutionary Algorithms (EAs) and Deep Reinforcement Learning (DRL) have recently been integrated to take the advantage of the both methods for better exploration and exploitation.The evolutionary part in these hybrid methods maintains a…

This paper addresses the problem of designing control policies for agents with unknown stochastic dynamics and control objectives specified using Linear Temporal Logic (LTL). Recent Deep Reinforcement Learning (DRL) algorithms have aimed to…

Recent advances in reinforcement learning (RL) have improved the reasoning capabilities of large language models (LLMs) and vision-language models (VLMs). However, the widely used Group Relative Policy Optimization (GRPO) consistently…

Numerous heuristics and advanced approaches have been proposed for exploration in different settings for deep reinforcement learning. Noise-based exploration generally fares well with dense-shaped rewards and bonus-based exploration with…

A major challenge in reinforcement learning is exploration, when local dithering methods such as epsilon-greedy sampling are insufficient to solve a given task. Many recent methods have proposed to intrinsically motivate an agent to seek…

Deep reinforcement learning has recently achieved strong results in quadrupedal locomotion, yet policies trained in simulation often fail to transfer when the environment changes. Evolutionary reinforcement learning aims to address this…

Acquiring abilities in the absence of a task-oriented reward function is at the frontier of reinforcement learning research. This problem has been studied through the lens of empowerment, which draws a connection between option discovery…

Recently deep reinforcement learning (DRL) has achieved outstanding success on solving many difficult and large-scale RL problems. However the high sample cost required for effective learning often makes DRL unaffordable in resource-limited…

We propose Deterministic Sequencing of Exploration and Exploitation (DSEE) algorithm with interleaving exploration and exploitation epochs for model-based RL problems that aim to simultaneously learn the system model, i.e., a Markov…

Reinforcement learning (RL) algorithms allow artificial agents to improve their selection of actions to increase rewarding experiences in their environments. Temporal Difference (TD) Learning -- a model-free RL method -- is a leading…

We address the issue of estimation bias in deep reinforcement learning (DRL) by introducing solution mechanisms that include a new, twin TD-regularized actor-critic (TDR) method. It aims at reducing both over and under-estimation errors.…

A promising technique for exploration is to maximize the entropy of visited state distribution, i.e., state entropy, by encouraging uniform coverage of visited state space. While it has been effective for an unsupervised setup, it tends to…

Exploration in environments with sparse rewards has been a persistent problem in reinforcement learning (RL). Many tasks are natural to specify with a sparse reward, and manually shaping a reward function can result in suboptimal…