相关论文: Enhancing Control Policy Smoothness by Aligning Ac…

Humans decompose novel complex tasks into simpler ones to exploit previously learned skills. Analogously, hierarchical reinforcement learning seeks to leverage lower-level policies for simple tasks to solve complex ones. However, because…

Robotic assembly presents a long-standing challenge due to its requirement for precise, contact-rich manipulation. While simulation-based learning has enabled the development of robust assembly policies, their performance often degrades…

Model-free policy learning has enabled robust performance of complex tasks with relatively simple algorithms. However, this simplicity comes at the cost of requiring an Oracle and arguably very poor sample complexity. This renders such…

Diffusion-based policies have recently achieved remarkable success in robotics by formulating action prediction as a conditional denoising process. However, the standard practice of sampling from random Gaussian noise often requires…

The performance of Offline reinforcement learning is significantly impacted by the issue of state distributional shift, and out-of-distribution (OOD) state correction is a popular approach to address this problem. In this paper, we propose…

Self-adaptation has been proposed as a mechanism to counter complexity in control problems of technical systems. A major driver behind self-adaptation is the idea to transfer traditional design-time decisions to runtime and into the…

A critical and challenging problem in reinforcement learning is how to learn the state-action value function from the experience replay buffer and simultaneously keep sample efficiency and faster convergence to a high quality solution. In…

Many real-world datasets, such as healthcare, climate, and economics, are often collected as irregular time series, which poses challenges for accurate modeling. In this paper, we propose the Amortized Control of continuous State Space…

Recently proposed quantum-chaotic sensors achieve quantum enhancements in measurement precision by applying nonlinear control pulses to the dynamics of the quantum sensor while using classical initial states that are easy to prepare. Here,…

In Path Integral control problems a representation of an optimally controlled dynamical system can be formally computed and serve as a guidepost to learn a parametrized policy. The Path Integral Cross-Entropy (PICE) method tries to exploit…

Reinforcement learning is an appropriate and successful method to robustly perform low-level robot control under noisy conditions. Symbolic action planning is useful to resolve causal dependencies and to break a causally complex problem…

Deep reinforcement learning algorithms can perform poorly in real-world tasks due to the discrepancy between source and target environments. This discrepancy is commonly viewed as the disturbance in transition dynamics. Many existing…

Signal delay poses a fundamental challenge in continuous control and reinforcement learning (RL) by introducing a temporal gap between interaction and perception. Current solutions have largely evolved along two distinct paradigms:…

Grasp-based manipulation tasks are fundamental to robots interacting with their environments, yet gripper state ambiguity significantly reduces the robustness of imitation learning policies for these tasks. Data-driven solutions face the…

A properly designed controller can help improve the quality of experimental measurements or force a dynamical system to follow a completely new time-evolution path. Recent developments in deep reinforcement learning have made steep advances…

Oftentimes, environments for sequential decision-making problems can be quite sparse in the provision of evaluative feedback to guide reinforcement-learning agents. In the extreme case, long trajectories of behavior are merely punctuated…

Ensuring the stability of power systems is gaining more attraction today than ever before, due to the rapid growth of uncertainties in load and renewable energy penetration. Lately, wide area measurement system-based centralized controlling…

When autonomous vehicles are deployed on public roads, they will encounter countless and diverse driving situations. Many manually designed driving policies are difficult to scale to the real world. Fortunately, reinforcement learning has…

Making the right decision in traffic is a challenging task that is highly dependent on individual preferences as well as the surrounding environment. Therefore it is hard to model solely based on expert knowledge. In this work we use Deep…

Sampling is ubiquitous in machine learning methodologies. Due to the growth of large datasets and model complexity, we want to learn and adapt the sampling process while training a representation. Towards achieving this grand goal, a…