相关论文: An Adaptive Data-Enabled Policy Optimization Appro…

We consider the problem of discounted optimal state-feedback regulation for general unknown deterministic discrete-time systems. It is well known that open-loop instability of systems, non-quadratic cost functions and complex nonlinear…

Reinforcement learning algorithms require a large amount of samples; this often limits their real-world applications on even simple tasks. Such a challenge is more outstanding in multi-agent tasks, as each step of operation is more costly…

The smart grid domain requires bolstering the capabilities of existing energy management systems; Federated Learning (FL) aligns with this goal as it demonstrates a remarkable ability to train models on heterogeneous datasets while…

Over the years, complex control approaches have been developed to control the motion of a bicycle. Reinforcement Learning (RL), a branch of machine learning, promises easy deployment of so-called agents. Deployed agents are increasingly…

Policy iteration is one of the classical frameworks of reinforcement learning, which requires a known initial stabilizing control. However, finding the initial stabilizing control depends on the known system model. To relax this requirement…

We consider the problem of optimal trajectory tracking for unknown systems. A novel data-enabled predictive control (DeePC) algorithm is presented that computes optimal and safe control policies using real-time feedback driving the unknown…

Residual policy learning (RPL), in which a learned policy refines a static base policy using deep reinforcement learning (DRL), has shown strong performance across various robotic applications. Its effectiveness is particularly evident in…

Although multi-step generative policies achieve strong performance in robotic manipulation by modeling multimodal action distributions, they require multi-step iterative denoising at inference time. Each action therefore needs tens to…

Decentralized policy optimization has been commonly used in cooperative multi-agent tasks. However, since all agents are updating their policies simultaneously, from the perspective of individual agents, the environment is non-stationary,…

We develop an online data-enabled predictive (ODeePC) control method for optimal control of unknown systems, building on the recently proposed DeePC [1]. Our proposed ODeePC method leverages a primal-dual algorithm with real-time…

Federated Learning (FL) is a recent development in distributed machine learning that collaboratively trains models without training data leaving client devices, preserving data privacy. In real-world FL, the training set is distributed over…

We introduce a general framework for robust data-enabled predictive control (DeePC) for linear time-invariant (LTI) systems. The proposed framework enables us to obtain model-free optimal control for LTI systems based on noisy input/output…

Reinforcement learning (RL) in continuous state-action spaces remains challenging in scientific computing due to poor sample efficiency and lack of pathwise physical consistency. We introduce Differential Reinforcement Learning…

This paper proposes an online bipedal footstep planning strategy that combines model predictive control (MPC) and reinforcement learning (RL) to achieve agile and robust bipedal maneuvers. While MPC-based foot placement controllers have…

DPO (Direct Preference Optimization) has become a widely used offline preference optimization algorithm due to its simplicity and training stability. However, DPO is prone to overfitting and collapse. To address these challenges, we propose…

Data-enabled predictive control (DeePC) leverages system measurements in characterizing system dynamics for optimal control. The performance of DeePC relies on optimizing its hyperparameters, especially in noisy systems where the optimal…

This paper proposes a framework for adaptively learning a feedback linearization-based tracking controller for an unknown system using discrete-time model-free policy-gradient parameter update rules. The primary advantage of the scheme over…

Federated learning (FL) emerges as a promising approach to empower vehicular networks, composed by intelligent connected vehicles equipped with advanced sensing, computing, and communication capabilities. While previous studies have…

Offline-to-online reinforcement learning (O2O-RL) has emerged as a promising paradigm for safe and efficient robotic policy deployment but suffers from two fundamental challenges: limited coverage of multimodal behaviors and distributional…

Offline reinforcement learning struggles with distributional shift and constrained performance due to static dataset limitations, while online RL demands prohibitive environment interactions. The recent advent of hybrid offline-to-online…