相关论文: Quantifying First-Order Markov Violations in Noisy…
Deep reinforcement learning agents achieve state-of-the-art performance in a wide range of simulated control tasks. However, successful applications to real-world problems remain limited. One reason for this dichotomy is because the learnt…
We consider reinforcement learning (RL) in Markov Decision Processes in which an agent repeatedly interacts with an environment that is modeled by a controlled Markov process. At each time step $t$, it earns a reward, and also incurs a…
The problem of detection and possible estimation of a signal generated by a dynamic system when a variable number of noisy measurements can be taken is here considered. Assuming a Markov evolution of the system (in particular, the pair…
This work introduces a non-intrusive model reduction approach for learning reduced models from partially observed state trajectories of high-dimensional dynamical systems. The proposed approach compensates for the loss of information due to…
Reinforcement learning (RL) has gained increasing attraction in the academia and tech industry with launches to a variety of impactful applications and products. Although research is being actively conducted on many fronts (e.g., offline…
Many real-world reinforcement learning (RL) problems necessitate learning complex, temporally extended behavior that may only receive reward signal when the behavior is completed. If the reward-worthy behavior is known, it can be specified…
As a paradigm for sequential decision making in unknown environments, reinforcement learning (RL) has received a flurry of attention in recent years. However, the explosion of model complexity in emerging applications and the presence of…
We propose a framework for verifiable and compositional reinforcement learning (RL) in which a collection of RL subsystems, each of which learns to accomplish a separate subtask, are composed to achieve an overall task. The framework…
Reinforcement learning (RL) offers a powerful approach for robots to learn complex, collaborative skills by combining Dynamic Movement Primitives (DMPs) for motion and Variable Impedance Control (VIC) for compliant interaction. However,…
This paper proposes a new sequential model learning architecture to solve partially observable Markov decision problems. Rather than compressing sequential information at every timestep as in conventional recurrent neural network-based…
We consider the problem of performing inverse reinforcement learning when the trajectory of the expert is not perfectly observed by the learner. Instead, a noisy continuous-time observation of the trajectory is provided to the learner. This…
Robustness has been extensively studied in reinforcement learning (RL) to handle various forms of uncertainty such as random perturbations, rare events, and malicious attacks. In this work, we consider one critical type of robustness…
Non-Markovian noise can be a significant source of errors in superconducting qubits. We develop gate sequences utilising mirrored pseudoidentities that allow us to characterise and model the effects of non-Markovian noise on both idle and…
In noisy label learning, estimating noisy class posteriors plays a fundamental role for developing consistent classifiers, as it forms the basis for estimating clean class posteriors and the transition matrix. Existing methods typically…
Reinforcement learning (RL) with continuous time and state/action spaces is often data-intensive and brittle under nuisance variability and shift, motivating methods that exploit value-preserving structures to stabilize and improve…
Autonomous navigation emerges from both motion and local visual perception in real-world environments. However, most successful robotic motion estimation methods (e.g. VO, SLAM, SfM) and vision systems (e.g. CNN, visual place…
Though deep reinforcement learning (DRL) has obtained substantial success, it may encounter catastrophic failures due to the intrinsic uncertainty of both transition and observation. Most of the existing methods for safe reinforcement…
We consider a context-dependent Reinforcement Learning (RL) setting, which is characterized by: a) an unknown finite number of not directly observable contexts; b) abrupt (discontinuous) context changes occurring during an episode; and c)…
In this paper, we present an approach to identify linear parameter-varying (LPV) systems with a state-space (SS) model structure in an innovation form where the coefficient functions have static and affine dependency on the scheduling…
The current quantum reinforcement learning control models often assume that the quantum states are known a priori for control optimization. However, full observation of quantum state is experimentally infeasible due to the exponential…