相关论文: Sample-Efficient Reinforcement Learning Controller…

In this paper, a novel robust tracking control scheme for a general class of discrete-time nonlinear systems affected by unknown bounded uncertainty is presented. By solving a parameterized optimal tracking control problem subject to the…

Despite remarkable successes, deep reinforcement learning algorithms remain sample inefficient: they require an enormous amount of trial and error to find good policies. Model-based algorithms promise sample efficiency by building an…

This study presents a novel methodology incorporating safety constraints into a robotic simulation during the training of deep reinforcement learning (DRL). The framework integrates specific parts of the safety requirements, such as…

Accurate intraoperative localization of the subthalamic nucleus (STN) is essential for the efficacy of Deep Brain Stimulation (DBS) in patients with Parkinson's disease. While microelectrode recordings (MERs) provide rich…

In this paper we present an efficient model of the neuronal potentials recorded by a deep brain stimulation microelectrode (DBS MER) in the subthalamic nucleus. It is shown that a computationally efficient filtered point process consisting…

A deep reinforcement learning (DRL) agent observes its states through observations, which may contain natural measurement errors or adversarial noises. Since the observations deviate from the true states, they can mislead the agent into…

Reinforcement learning has been increasingly applied in monitoring applications because of its ability to learn from previous experiences and can make adaptive decisions. However, existing machine learning-based health monitoring…

Deep reinforcement learning (DRL) has significantly advanced the field of combinatorial optimization (CO). However, its practicality is hindered by the necessity for a large number of reward evaluations, especially in scenarios involving…

Massive datasets often contain redundancy that inflates computational costs without improving generalization. Existing data reduction methods are typically task-agnostic, discarding informative boundary samples and yielding suboptimal…

Sparse learning has been widely studied to capture critical information from enormous data sources in the filed of system identification. Often, it is essential to understand internal working mechanisms of unknown systems (e.g. biological…

Developmental plasticity plays a prominent role in shaping the brain's structure during ongoing learning in response to dynamically changing environments. However, the existing network compression methods for deep artificial neural networks…

Deploying controllers trained with Reinforcement Learning (RL) on real robots can be challenging: RL relies on agents' policies being modeled as Markov Decision Processes (MDPs), which assume an inherently discrete passage of time. The use…

Reinforcement Learning (RL) has been widely used to solve tasks where the environment consistently provides a dense reward value. However, in real-world scenarios, rewards can often be poorly defined or sparse. Auxiliary signals are…

The energy-efficient control of mobile robots is crucial as the complexity of their real-world applications increasingly involves high-dimensional observation and action spaces, which cannot be offset by limited on-board resources. An…

Preference-based reinforcement learning (PbRL) has shown impressive capabilities in training agents without reward engineering. However, a notable limitation of PbRL is its dependency on substantial human feedback. This dependency stems…

In this paper, we propose a learning rule based on a back-propagation (BP) algorithm that can be applied to a hardware-based deep neural network (HW-DNN) using electronic devices that exhibit discrete and limited conductance…

Selecting the most appropriate data examples to present a deep neural network (DNN) at different stages of training is an unsolved challenge. Though practitioners typically ignore this problem, a non-trivial data scheduling method may…

Blood Glucose (BG) control involves keeping an individual's BG within a healthy range through extracorporeal insulin injections is an important task for people with type 1 diabetes. However,traditional patient self-management is cumbersome…

Recent advances in parallel computing and GPU acceleration have created new opportunities for computation-intensive learning problems such as Active SLAM -- where actions are selected to reduce uncertainty and improve joint mapping and…

Background: Clinical diagnosis is typically reached by following a series of steps recommended by guidelines authored by colleges of experts. Accordingly, guidelines play a crucial role in rationalizing clinical decisions but suffer from…