相关论文: Sample-Efficient Reinforcement Learning Controller…

In recent years deep neural networks have been successfully applied to the domains of reinforcement learning \cite{bengio2009learning,krizhevsky2012imagenet,hinton2006reducing}. Deep reinforcement learning \cite{mnih2015human} is reported…

This research gauges the ability of deep reinforcement learning (DRL) techniques to assist the optimization and control of fluid mechanical systems. It combines a novel, "degenerate" version of the proximal policy optimization (PPO)…

Enforcing state and input constraints during reinforcement learning (RL) in continuous state spaces is an open but crucial problem which remains a roadblock to using RL in safety-critical applications. This paper leverages invariant sets to…

Limitations on bandwidth and power consumption impose strict bounds on data rates of diagnostic imaging systems. Consequently, the design of suitable (i.e. task- and data-aware) compression and reconstruction techniques has attracted…

The combination of a deep neural network (DNN) -based speech enhancement (SE) front-end and an automatic speech recognition (ASR) back-end is a widely used approach to implement overlapping speech recognition. However, the SE front-end…

Some of the threats in the dynamic environment include the unpredictability of the motion of objects and interferences to the robotic grasp. In such conditions the traditional supervised and reinforcement learning approaches are ill suited…

Due to its property of not requiring prior knowledge of the environment, reinforcement learning has significant potential for quantum control problems. In this work, we investigate the effectiveness of continuous control policies based on…

Safe exploration remains a fundamental challenge in reinforcement learning (RL), limiting the deployment of RL agents in the real world. We propose Sampling-Based Safe Reinforcement Learning (SBSRL), a model-based RL algorithm that…

Electrical impedance tomography (EIT) is a promising technique for biomedical imaging. The strength of EIT is its ability to reconstruct images of the body's internal structures through radiation-safe techniques. EIT is regarded as safe for…

Functional Electrical Stimulation (FES) can restore motion to a paralysed person's muscles. Yet, control stimulating many muscles to restore the practical function of entire limbs is an unsolved problem. Current neurostimulation engineering…

Traditional methods for solvability region analysis can only have inner approximations with inconclusive conservatism. Machine learning methods have been proposed to approach the real region. In this letter, we propose a deep active…

Sequential Bayesian optimal experimental design (SBOED) for PDE-governed inverse problems is computationally challenging, especially for infinite-dimensional random field parameters. High-fidelity approaches require repeated forward and…

In contrast to the human ability to continuously acquire knowledge, agents struggle with the stability-plasticity dilemma in deep reinforcement learning (DRL), which refers to the trade-off between retaining existing skills (stability) and…

Objective: A major challenge in designing closed-loop brain-computer interfaces is finding optimal stimulation patterns as a function of ongoing neural activity for different subjects and objectives. Approach: To achieve goal-directed…

Deep reinforcement learning (DRL) has become a powerful tool for complex decision-making in machine learning and AI. However, traditional methods often assume perfect action execution, overlooking the uncertainties and deviations between an…

Advanced model-based controllers are well established in process industries. However, such controllers require regular maintenance to maintain acceptable performance. It is a common practice to monitor controller performance continuously…

Deep reinforcement learning (DRL) is a promising approach for adaptive robot control, but its current application to robotics is currently hindered by high sample requirements. We propose two novel data augmentation techniques for DRL in…

Soft robots can execute tasks with safer interactions. However, control techniques that can effectively exploit the systems' capabilities are still missing. Differential dynamic programming (DDP) has emerged as a promising tool for…

In recent years, deep reinforcement learning (RL) has shown its effectiveness in solving complex continuous control tasks. However, this comes at the cost of an enormous amount of experience required for training, exacerbated by the…

Preference-based reinforcement learning (PbRL) aligns a robot behavior with human preferences via a reward function learned from binary feedback over agent behaviors. We show that dynamics-aware reward functions improve the sample…