相关论文: Feature Selection Based on Reinforcement Learning …

We present an online model-based reinforcement learning algorithm suitable for controlling complex robotic systems directly in the real world. Unlike prevailing sim-to-real pipelines that rely on extensive offline simulation and model-free…

Determining the optimal cost function parameters of Model Predictive Control (MPC) to optimize multiple control objectives is a challenging and time-consuming task. Multiobjective Bayesian Optimization (BO) techniques solve this problem by…

Voltage stability in modern power systems involves coupled dynamics across multiple time scales. Conventional methods based on time-scale separation or static stability margins may overlook instabilities caused by the coupling of slow and…

Reinforcement learning (RL)-based adaptive cruise control systems (ACC) that learn and adapt to road, traffic and vehicle conditions are attractive for enhancing vehicle energy efficiency and traffic flow. However, the application of RL in…

Strong physical unclonable function (PUF) is a promising solution for device authentication in resourceconstrained applications but vulnerable to machine learning attacks. In order to resist such attack, many defenses have been proposed in…

We introduce a new algorithm for reinforcement learning called Maximum aposteriori Policy Optimisation (MPO) based on coordinate ascent on a relative entropy objective. We show that several existing methods can directly be related to our…

In safety-critical domains, reinforcement learning (RL) agents must often satisfy strict, zero-cost safety constraints while accomplishing tasks. Existing model-free methods frequently either fail to achieve near-zero safety violations or…

Traditional risk factors like beta, size/value, and momentum often lag behind market dynamics in measuring and predicting stock return volatility. Statistical models like PCA and factor analysis fail to capture hidden nonlinear…

Learning various motor skills for quadrupedal robots is a challenging problem that requires careful design of task-specific mathematical models or reward descriptions. In this work, we propose to learn a single capable policy using deep…

Accurate alignment of multi-degree-of-freedom rehabilitation robots is essential for safe and effective patient training. This paper proposes a two-stage calibration framework for a self-designed three-degree-of-freedom (3-DOF) ankle…

Proximal policy optimization (PPO) is one of the most popular deep reinforcement learning (RL) methods, achieving state-of-the-art performance across a wide range of challenging tasks. However, as a model-free RL method, the success of PPO…

Safe reinforcement learning has been a promising approach for optimizing the policy of an agent that operates in safety-critical applications. In this paper, we propose an algorithm, SNO-MDP, that explores and optimizes Markov decision…

Proximal Policy Optimization with Adaptive Exploration (axPPO) is introduced as a novel learning algorithm. This paper investigates the exploration-exploitation tradeoff within the context of reinforcement learning and aims to contribute…

Collision avoidance algorithms are essential for safe and efficient robot operation among pedestrians. This work proposes using deep reinforcement (RL) learning as a framework to model the complex interactions and cooperation with nearby,…

Learning to control a safety-critical system with latent dynamics (e.g. for deep brain stimulation) requires taking calculated risks to gain information as efficiently as possible. To address this problem, we present a…

Mobile robot navigation in complex and dynamic environments is a challenging but important problem. Reinforcement learning approaches fail to solve these tasks efficiently due to reward sparsities, temporal complexities and…

Learning continuous control in high-dimensional sparse reward settings, such as robotic manipulation, is a challenging problem due to the number of samples often required to obtain accurate optimal value and policy estimates. While many…

Preference-based reinforcement learning (PbRL) can enable robots to learn to perform tasks based on an individual's preferences without requiring a hand-crafted reward function. However, existing approaches either assume access to a…

Deep reinforcement learning (RL) uses model-free techniques to optimize task-specific control policies. Despite having emerged as a promising approach for complex problems, RL is still hard to use reliably for real-world applications. Apart…

Proximal Policy Optimization (PPO) dominates reinforcement learning and LLM alignment but relies on a "hard clipping" mechanism that discards valuable gradients. Conversely, unconstrained methods like SPO expose the optimization to…