相关论文: CACTO-BIC: Scalable Actor-Critic Learning via Bias…

Deep reinforcement learning (RL) uses model-free techniques to optimize task-specific control policies. Despite having emerged as a promising approach for complex problems, RL is still hard to use reliably for real-world applications. Apart…

Multi-task reinforcement learning (MTRL) demonstrate potential for enhancing the generalization of a robot, enabling it to perform multiple tasks concurrently. However, the performance of MTRL may still be susceptible to conflicts between…

Deep reinforcement learning (RL) algorithms can use high-capacity deep networks to learn directly from image observations. However, these high-dimensional observation spaces present a number of challenges in practice, since the policy must…

Contact-implicit trajectory optimization (CITO) enables the automatic discovery of contact sequences, but most methods rely on fine time discretization to capture all contact events accurately, which increases problem size and runtime while…

Robust topology optimization (RTO), as a class of topology optimization problems, identifies a design with the best average performance while reducing the response sensitivity to input uncertainties, e.g. load uncertainty. Solving RTO is…

Dynamic real-time optimization (DRTO) is a challenging task due to the fact that optimal operating conditions must be computed in real time. The main bottleneck in the industrial application of DRTO is the presence of uncertainty. Many…

Despite impressive results, reinforcement learning (RL) suffers from slow convergence and requires a large variety of tuning strategies. In this paper, we investigate the ability of RL algorithms on simple continuous control tasks. We show…

Safe reinforcement learning (RL) focuses on training reward-maximizing agents subject to pre-defined safety constraints. Yet, learning versatile safe policies that can adapt to varying safety constraint requirements during deployment…

Unsupervised neural combinatorial optimization (NCO) enables learning powerful solvers without access to ground-truth solutions. Existing approaches fall into two disjoint paradigms: models trained for generalization across instances, and…

Aligning large-scale vision-language models (VLMs) for complex reasoning via reinforcement learning is often hampered by the limitations of existing policy optimization algorithms, such as static training schedules and the rigid, uniform…

Achieving reactive robot behavior in complex dynamic environments is still challenging as it relies on being able to solve trajectory optimization problems quickly enough, such that we can replan the future motion at frequencies which are…

Reinforcement learning (RL) is widely used for humanoid control, with on-policy methods such as Proximal Policy Optimization (PPO) enabling robust training via large-scale parallel simulation and, in some cases, zero-shot deployment to real…

Visual-Inertial Odometry (VIO) is a critical component for robust ego-motion estimation, enabling foundational capabilities such as autonomous navigation in robotics and real-time 6-DoF tracking for augmented reality. Existing methods face…

Non-linear Trajectory Optimisation (TO) methods require good initial guesses to converge to a locally optimal solution. A feasible guess can often be obtained by allocating a large amount of time for the trajectory to complete. However for…

Continual Learning (CL) aims to train neural networks on a dynamic stream of tasks without forgetting previously learned knowledge. Among optimization-based approaches, C-Flat has emerged as a promising solution due to its plug-and-play…

Fast and efficient transport protocols are the foundation of an increasingly distributed world. The burden of continuously delivering improved communication performance to support next-generation applications and services, combined with the…

Group Relative Policy Optimization (GRPO) has shown promise in discrete action spaces by eliminating value function dependencies through group-based advantage estimation. However, its application to continuous control remains unexplored,…

Recent advancements in Reinforcement Learning (RL), particularly Group Relative Policy Optimization (GRPO), have significantly enhanced the reasoning capabilities of Large Language Models. However, applying these problem-centric…

As autonomous agents become adept at understanding and interacting with graphical user interface (GUI) environments, a new era of automated task execution is emerging. Recent studies have demonstrated that Reinforcement Learning (RL) can…

Many real-world domains are subject to a structured non-stationarity which affects the agent's goals and the environmental dynamics. Meta-reinforcement learning (RL) has been shown successful for training agents that quickly adapt to…