相关论文: The Laplacian Keyboard: Beyond the Linear Span

Reinforcement learning is a model-free optimal control method that optimizes a control policy through direct interaction with the environment. For reaching tasks that end in regulation, popular discrete-action methods are not well suited…

This paper presents a model-based reinforcement learning (RL) framework for optimal closed-loop control of nonlinear robotic systems. The proposed approach learns linear lifted dynamics through Koopman operator theory and integrates the…

This article proposes a novel methodology to learn a stable robot control law driven by dynamical systems. The methodology requires a single demonstration and can deduce a stable dynamics in arbitrary high dimensions. The method relies on…

Reinforcement learning (RL) has enhanced the capabilities of large language models (LLMs) through reward-driven training. Nevertheless, this process can introduce excessively long responses, inflating inference latency and computational…

A critical step for reliable large language models (LLMs) use in healthcare is to attribute predictions to their training data, akin to a medical case study. This requires token-level precision: pinpointing not just which training examples…

Safe Reinforcement Learning (Safe RL) is one of the prevalently studied subcategories of trial-and-error-based methods with the intention to be deployed on real-world systems. In safe RL, the goal is to maximize reward performance while…

Model-free Reinforcement Learning (RL) offers an attractive approach to learn control policies for high-dimensional systems, but its relatively poor sample complexity often forces training in simulated environments. Even in simulation,…

Designing reward functions that generalize beyond controlled laboratory settings remains a fundamental challenge in reinforcement learning for robotics. In open-world manipulation problems, a single task can appear in numerous variants…

Reinforcement learning (RL) is a framework to optimize a control policy using rewards that are revealed by the system as a response to a control action. In its standard form, RL involves a single agent that uses its policy to accomplish a…

Reinforcement learning (RL) can align language models with non-differentiable reward signals, such as human preferences. However, a major challenge arises from the sparsity of these reward signals - typically, there is only a single reward…

In Reinforcement Learning (RL), Laplacian Representation (LapRep) is a task-agnostic state representation that encodes the geometry of the environment. A desirable property of LapRep stated in prior works is that the Euclidean distance in…

Solving long-horizon goal-conditioned tasks remains a significant challenge in reinforcement learning (RL). Hierarchical reinforcement learning (HRL) addresses this by decomposing tasks into more manageable sub-tasks, but the automatic…

We study a semi-supervised learning method based on the similarity graph and RegularizedLaplacian. We give convenient optimization formulation of the Regularized Laplacian method and establishits various properties. In particular, we show…

Networks significantly influence social, economic, and organizational outcomes, with centrality measures serving as crucial tools to capture the importance of individual nodes. This paper introduces Laplacian Eigenvector Centrality (LEC), a…

This work presents a novel data-driven framework for constructing eigenfunctions of the Koopman operator geared toward prediction and control. The method leverages the richness of the spectrum of the Koopman operator away from attractors to…

Reward-free reinforcement learning (RL) is a framework which is suitable for both the batch RL setting and the setting where there are many reward functions of interest. During the exploration phase, an agent collects samples without using…

The exploration problem is one of the main challenges in deep reinforcement learning (RL). Recent promising works tried to handle the problem with population-based methods, which collect samples with diverse behaviors derived from a…

Selecting exploratory actions that generate a rich stream of experience for better learning is a fundamental challenge in reinforcement learning (RL). An approach to tackle this problem consists in selecting actions according to specific…

We tackle the blackbox issue of deep neural networks in the settings of reinforcement learning (RL) where neural agents learn towards maximizing reward gains in an uncontrollable way. Such learning approach is risky when the interacting…

Standard reinforcement learning (RL) aims to find an optimal policy that identifies the best action for each state. However, in healthcare settings, many actions may be near-equivalent with respect to the reward (e.g., survival). We…