相关论文: Dual Action Policy for Robust Sim-to-Real Reinforc…

In recent years, information relaxation and duality in dynamic programs have been studied extensively, and the resulted primal-dual approach has become a powerful procedure in solving dynamic programs by providing lower-upper bounds on the…

Autonomous Underwater Vehicle (AUV) docking in dynamic and uncertain environments is a critical challenge for underwater robotics. Reinforcement learning is a promising method for developing robust controllers, but the disparity between…

Real-world applications require RL algorithms to act safely. During learning process, it is likely that the agent executes sub-optimal actions that may lead to unsafe/poor states of the system. Exploration is particularly brittle in…

Dynamic decisions are pivotal to economic policy making. We show how existing evidence from randomized control trials can be utilized to guide personalized decisions in challenging dynamic environments with budget and capacity constraints.…

Robust control of mechanical systems with multiple uncertainties remains a fundamental challenge, particularly when nonlinear dynamics and operating-condition variations are intricately intertwined. Although deep reinforcement learning…

Deep reinforcement learning in continuous domains focuses on learning control policies that map states to distributions over actions that ideally concentrate on the optimal choices in each step. In multi-agent navigation problems, the…

This paper explores the impact of dynamic entropy tuning in Reinforcement Learning (RL) algorithms that train a stochastic policy. Its performance is compared against algorithms that train a deterministic one. Stochastic policies optimize a…

Robotic systems driven by artificial muscles present unique challenges due to the nonlinear dynamics of actuators and the complex designs of mechanical structures. Traditional model-based controllers often struggle to achieve desired…

Learning effective reinforcement learning (RL) policies to solve real-world complex tasks can be quite challenging without a high-fidelity simulation environment. In most cases, we are only given imperfect simulators with simplified…

Reinforcement learning (RL) is already widely applied to applications such as robotics, but it is only sparsely used in sensor management. In this paper, we apply the popular Proximal Policy Optimization (PPO) approach to a multi-agent UAV…

In a multi-agent setting, the optimal policy of a single agent is largely dependent on the behavior of other agents. We investigate the problem of multi-agent reinforcement learning, focusing on decentralized learning in non-stationary…

Pursuit-evasion is the problem of capturing mobile targets with one or more pursuers. We use deep reinforcement learning for pursuing an omni-directional target with multiple, homogeneous agents that are subject to unicycle kinematic…

Despite the increasing adoption of Deep Reinforcement Learning (DRL) for Autonomous Surface Vehicles (ASVs), there still remain challenges limiting real-world deployment. In this paper, we first integrate buoyancy and hydrodynamics models…

Dual-arm manipulation is an area of growing interest in the robotics community. Enabling robots to perform tasks that require the coordinated use of two arms, is essential for complex manipulation tasks such as handling large objects,…

Sim-to-real discrepancies hinder learning-based policies from achieving high-precision tasks in the real world. While Domain Randomization (DR) is commonly used to bridge this gap, it often relies on heuristics and can lead to overly…

Automated planning algorithms require an action model specifying the preconditions and effects of each action, but obtaining such a model is often hard. Learning action models from observations is feasible, but existing algorithms for…

We study the dynamic pricing and replenishment problems under inconsistent decision frequencies. Different from the traditional demand assumption, the discreteness of demand and the parameter within the Poisson distribution as a function of…

Multi-agent reinforcement learning systems aim to provide interacting agents with the ability to collaboratively learn and adapt to the behaviour of other agents. In many real-world applications, the agents can only acquire a partial view…

Recently, diffusion policy has shown impressive results in handling multi-modal tasks in robotic manipulation. However, it has fundamental limitations in out-of-distribution failures that persist due to compounding errors and its limited…

Modern multi-agent reinforcement learning (RL) algorithms hold great potential for solving a variety of real-world problems. However, they do not fully exploit cross-agent knowledge to reduce sample complexity and improve performance.…