相关论文: Symphony: A Heuristic Normalized Calibrated Advant…

We consider an agent trying to bring a system to an acceptable state by repeated probabilistic action. Several recent works on algorithmizations of the Lovasz Local Lemma (LLL) can be seen as establishing sufficient conditions for the agent…

Intelligent agents must be able to think fast and slow to perform elaborate manipulation tasks. Reinforcement Learning (RL) has led to many promising results on a range of challenging decision-making tasks. However, in real-world robotics,…

This paper presents the first actor-critic algorithm for off-policy reinforcement learning. Our algorithm is online and incremental, and its per-time-step complexity scales linearly with the number of learned weights. Previous work on…

The pursuit of long-term autonomy mandates that machine learning models must continuously adapt to their changing environments and learn to solve new tasks. Continual learning seeks to overcome the challenge of catastrophic forgetting,…

This paper presents CONTHER, a novel reinforcement learning algorithm designed to efficiently and rapidly train robotic agents for goal-oriented manipulation tasks and obstacle avoidance. The algorithm uses a modified replay buffer inspired…

The development of the works of the author about adaptive algorithms of teaching the robotic systems with the help of operator is described here. An operator is assumed to be an experience decision-maker and sane carrier of a target which…

Multi-agent large language model systems can tackle complex multi-step tasks by decomposing work and coordinating specialized behaviors. However, current coordination mechanisms typically rely on statically assigned roles and centralized…

Coordinating agents to complete a set of tasks with intercoupled temporal and resource constraints is computationally challenging, yet human domain experts can solve these difficult scheduling problems using paradigms learned through years…

Climbing, crouching, bridging gaps, and walking up stairs are just a few of the advantages that quadruped robots have over wheeled robots, making them more suitable for navigating rough and unstructured terrain. However, executing such…

Natural language is often the easiest and most convenient modality for humans to specify tasks for robots. However, learning to ground language to behavior typically requires impractical amounts of diverse, language-annotated demonstrations…

The subject of this paper is reinforcement learning. Policies are considered here that produce actions based on states and random elements autocorrelated in subsequent time instants. Consequently, an agent learns from experiments that are…

Model-free off-policy actor-critic methods are an efficient solution to complex continuous control tasks. However, these algorithms rely on a number of design tricks and hyperparameters, making their application to new domains difficult and…

Reinforcement learning has been widely applied to robotic control, but effective policy learning under partial observability remains a major challenge, especially in high-dimensional tasks like humanoid locomotion. To date, no prior work…

Despite their apparent diversity, modern machine learning methods can be reduced to a remarkably simple core principle: learning is achieved by continuously optimizing parameters to minimize or maximize a scalar objective function. This…

This paper proposes a policy-based deep reinforcement learning hyper-heuristic framework for solving the Job Shop Scheduling Problem. The hyper-heuristic agent learns to switch scheduling rules based on the system state dynamically. We…

This study explores a learning-based tri-finger robotic arm manipulating task, which requires complex movements and coordination among the fingers. By employing reinforcement learning, we train an agent to acquire the necessary skills for…

Many real-world control problems involve both discrete decision variables - such as the choice of control modes, gear switching or digital outputs - as well as continuous decision variables - such as velocity setpoints, control gains or…

Recent advances in audio-synchronized visual animation enable control of video content using audios from specific classes. However, existing methods rely heavily on expensive manual curation of high-quality, class-specific training videos,…

Learning to produce contact-rich, dynamic behaviors from raw sensory data has been a longstanding challenge in robotics. Prominent approaches primarily focus on using visual or tactile sensing, where unfortunately one fails to capture…

Humanoid robots are expected to operate reliably over long horizons while executing versatile whole-body skills. Yet Reinforcement Learning (RL) motion policies typically lose stability under prolonged operation, sensor/actuator noise, and…