相关论文: StepCountJITAI: simulation environment for RL with…

Robot learning from interacting with the physical world is fundamentally bottlenecked by the cost of physical interaction. The two alternatives, supervised finetuning (SFT) from expert demonstrations and reinforcement learning (RL) in a…

Deep reinforcement learning (deep RL) holds the promise of automating the acquisition of complex controllers that can map sensory inputs directly to low-level actions. In the domain of robotic locomotion, deep RL could enable learning…

Recently, safe reinforcement learning (RL) with the actor-critic structure for continuous control tasks has received increasing attention. It is still challenging to learn a near-optimal control policy with safety and convergence…

The work presented in this paper aims to explore how, and to what extent, an adaptive robotic coach has the potential to provide extra motivation to adhere to long-term rehabilitation and help fill the coaching gap which occurs during…

We are motivated by the real challenges presented in a human-robot system to develop new designs that are efficient at data level and with performance guarantees such as stability and optimality at systems level. Existing…

Existing studies on reinforcement learning (RL) for sepsis management have mostly followed an established problem setup, in which patient data are aggregated into 4-hour time steps. Although concerns have been raised regarding the…

Deployment of Reinforcement Learning (RL) algorithms for robotics applications in the real world requires ensuring the safety of the robot and its environment. Safe Robot RL (SRRL) is a crucial step towards achieving human-robot…

This paper proposes a method to combine reinforcement learning (RL) and imitation learning (IL) using a dynamic, performance-based modulation over learning signals. The proposed method combines RL and behavioral cloning (IL), or corrective…

Simulation-based reinforcement learning (RL) has significantly advanced humanoid locomotion tasks, yet direct real-world RL from scratch or adapting from pretrained policies remains rare, limiting the full potential of humanoid robots.…

This paper introduces Unity RL Playground, an open-source reinforcement learning framework built on top of Unity ML-Agents. Unity RL Playground automates the process of training mobile robots to perform various locomotion tasks such as…

A reinforcement learning (RL) control policy could fail in a new/perturbed environment that is different from the training environment, due to the presence of dynamic variations. For controlling systems with continuous state and action…

Safe and efficient autonomous driving maneuvers in an interactive and complex environment can be considerably challenging due to the unpredictable actions of other surrounding agents that may be cooperative or adversarial in their…

Simulating step-wise human behavior with Large Language Models (LLMs) has become an emerging research direction, enabling applications in various practical domains. While prior methods, including prompting, supervised fine-tuning (SFT), and…

Increasing demand for algorithms that can learn quickly and efficiently has led to a surge of development within the field of artificial intelligence (AI). An important paradigm within AI is reinforcement learning (RL), where agents…

Recent research has turned to Reinforcement Learning (RL) to solve challenging decision problems, as an alternative to hand-tuned heuristics. RL can learn good policies without the need for modeling the environment's dynamics. Despite this…

Modeling of real-world biological multi-agents is a fundamental problem in various scientific and engineering fields. Reinforcement learning (RL) is a powerful framework to generate flexible and diverse behaviors in cyberspace; however,…

Online reinforcement learning (RL) is increasingly popular for the personalized mobile health (mHealth) intervention. It is able to personalize the type and dose of interventions according to user's ongoing statuses and changing needs.…

A longstanding goal in character animation is to combine data-driven specification of behavior with a system that can execute a similar behavior in a physical simulation, thus enabling realistic responses to perturbations and environmental…

One of the main goals of reinforcement learning (RL) is to provide a~way for physical machines to learn optimal behavior instead of being programmed. However, effective control of the machines usually requires fine time discretization. The…

Reinforcement Learning (RL) training is predominantly conducted in cost-effective and controlled simulation environments. However, the transfer of these trained models to real-world tasks often presents unavoidable challenges. This research…