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

This article presents an adaptive nonlinear delayed feedback control scheme for stabilizing the unstable periodic orbit of unknown fractional-order chaotic systems. The proposed control framework uses the Lyapunov approach and sliding mode…

Diffusion policies, widely adopted in decision-making scenarios such as robotics, gaming and autonomous driving, are capable of learning diverse skills from demonstration data due to their high representation power. However, the sub-optimal…

Model-based reinforcement learning (RL) algorithms allow us to combine model-generated data with those collected from interaction with the real system in order to alleviate the data efficiency problem in RL. However, designing such…

Adaptive cooperative tracking control with prescribed performance function (PPF) is proposed for high-order nonlinear multi-agent systems. The tracking error originally within a known large set is confined to a smaller predefined set using…

As an emerging technology, federated learning (FL) involves training machine learning models over distributed edge devices, which attracts sustained attention and has been extensively studied. However, the heterogeneity of client data…

This paper proposes a general and practical approach to estimate the economic benefits of optimally controlling deferrable loads in a Distribution System Operator's (DSO) grid, without relying on historical observations. We achieve this by…

Offline Reinforcement Learning (RL) learns optimal policies from fixed datasets, training a policy once and deploying it at inference time without further refinement. Inspired by model predictive control (MPC), we introduce an inference…

The growing complexity of Edge Video Analytics (EVA) facilitates new kind of intelligent applications, but creates challenges in real-time inference serving systems. State-of-the-art (SOTA) scheduling systems optimize global workload…

We consider the data-driven stabilization of discrete-time linear time-varying systems. The controller is defined as a linear state-feedback law whose gain is adapted to the plant changes through a data-based event-triggering rule. To do…

Dexterous manipulation is critical for advancing robot capabilities in real-world applications, yet diverse and high-quality datasets remain scarce. Existing data collection methods either rely on human teleoperation or require significant…

The integration of distributed energy resources (DERs) into sub-transmission systems has enabled new opportunities for flexibility provision in ancillary services such as frequency and voltage support, as well as congestion management. This…

We study the problem of finite-time constrained optimal control of unknown stochastic linear time-invariant systems, which is the key ingredient of a predictive control algorithm -- albeit typically having access to a model. We propose a…

Latent diffusion models are the state-of-the-art for synthetic image generation. To align these models with human preferences, training the models using reinforcement learning on human feedback is crucial. Black et. al 2024 introduced…

This paper introduces two novel modifications to the Dynamic sAmpling Policy Optimization (DAPO) algorithm [1], approached from a mixed-policy perspective. Standard policy gradient methods can suffer from instability and sample…

Federated Learning (FL) is a decentralized learning approach that protects sensitive information by utilizing local model parameters rather than sharing clients' raw datasets. While this privacy-preserving method is widely employed across…

We introduce Diffusion Policy Policy Optimization, DPPO, an algorithmic framework including best practices for fine-tuning diffusion-based policies (e.g. Diffusion Policy) in continuous control and robot learning tasks using the policy…

Policy Optimization (PO) is one of the most popular methods in Reinforcement Learning (RL). Thus, theoretical guarantees for PO algorithms have become especially important to the RL community. In this paper, we study PO in adversarial MDPs…

Compound AI systems, comprising multiple interacting components such as LLMs, foundation models, and external tools, have demonstrated remarkable improvements compared to single models in various tasks. To ensure their effective deployment…

This paper addresses continuous-time reinforcement learning (CTRL) where the system dynamics are governed by an unknown stochastic differential equation, and only discrete-time observations are available. Existing approaches face…

Reinforcement learning has become a cornerstone for aligning and unlocking the reasoning capabilities of large-scale models. At its core, the training loop of GRPO and its variants alternates between rollout sampling and policy update.…