相关论文: Policy Gradient for LQR with Domain Randomization

Domain generalization(DG) endeavors to develop robust models that possess strong generalizability while preserving excellent discriminability. Nonetheless, pivotal DG techniques tend to improve the feature generalizability by learning…

Our goal is to train control policies that generalize well to unseen environments. Inspired by the Distributionally Robust Optimization (DRO) framework, we propose DRAGEN - Distributionally Robust policy learning via Adversarial Generation…

Contact-rich manipulation plays an important role in human daily activities, but uncertain parameters pose significant challenges for robots to achieve comparable performance through planning and control. To address this issue, domain…

Domain shift refers to the well known problem that a model trained in one source domain performs poorly when applied to a target domain with different statistics. {Domain Generalization} (DG) techniques attempt to alleviate this issue by…

A key challenge in Domain Generalization (DG) is preventing overfitting to source domains, which can be mitigated by finding flatter minima in the loss landscape. In this work, we propose Quantization-aware Training for Domain…

Policy gradient methods are among the most effective methods in challenging reinforcement learning problems with large state and/or action spaces. However, little is known about even their most basic theoretical convergence properties,…

Aligning generative diffusion models with human preferences via reinforcement learning (RL) is critical yet challenging. Most existing algorithms are often vulnerable to reward hacking, such as quality degradation, over-stylization, or…

Policy gradient (PG) gives rise to a rich class of reinforcement learning (RL) methods. Recently, there has been an emerging trend to accelerate the existing PG methods such as REINFORCE by the \emph{variance reduction} techniques. However,…

Stabilizing a dynamical system is a fundamental problem that serves as a cornerstone for many complex tasks in the field of control systems. The problem becomes challenging when the system model is unknown. Among the Reinforcement Learning…

This paper examines reinforcement learning (RL) in infinite-horizon decision processes with almost-sure safety constraints, crucial for applications like autonomous systems, finance, and resource management. We propose a doubly-regularized…

There has been substantial recent progress on the theoretical understanding of model-free approaches to Linear Quadratic Regulator (LQR) problems. Much attention has been devoted to the special case when the goal is to drive the state close…

In recent years, domain randomization over dynamics parameters has gained a lot of traction as a method for sim-to-real transfer of reinforcement learning policies in robotic manipulation; however, finding optimal randomization…

Low-rank representation learning has emerged as a powerful tool for recovering missing values in power load data due to its ability to exploit the inherent low-dimensional structures of spatiotemporal measurements. Among various techniques,…

Producing agents that can generalize to a wide range of visually different environments is a significant challenge in reinforcement learning. One method for overcoming this issue is visual domain randomization, whereby at the start of each…

Reinforcement learning (RL) problems over general state and action spaces are notoriously challenging. In contrast to the tableau setting, one can not enumerate all the states and then iteratively update the policies for each state. This…

Sampling from unnormalized probability densities is a central challenge in computational science. Boltzmann generators are generative models that enable independent sampling from the Boltzmann distribution of physical systems at a given…

Constrained Reinforcement Learning (CRL) tackles sequential decision-making problems where agents are required to achieve goals by maximizing the expected return while meeting domain-specific constraints, which are often formulated as…

Deep neural networks suffer from significant performance deterioration when there exists distribution shift between deployment and training. Domain Generalization (DG) aims to safely transfer a model to unseen target domains by only relying…

Action-constrained reinforcement learning (RL) is a widely-used approach in various real-world applications, such as scheduling in networked systems with resource constraints and control of a robot with kinematic constraints. While the…

We propose policy gradient algorithms which learn risk-sensitive policies in a reinforcement learning (RL) framework. Our proposed algorithms maximize the distortion risk measure (DRM) of the cumulative reward in an episodic Markov decision…