相关论文: Squint: Fast Visual Reinforcement Learning for Sim…

In this work, we propose a computationally efficient algorithm for visual policy learning that leverages differentiable simulation and first-order analytical policy gradients. Our approach decouple the rendering process from the computation…

Massively parallel simulation has reduced reinforcement learning (RL) training time for robots from days to minutes. However, achieving fast and reliable sim-to-real RL for humanoid control remains difficult due to the challenges introduced…

We present the stochastic decoupled policy gradient (SDPG), a lightweight visual reinforcement learning (RL) method that trains diverse visuomotor control policies end-to-end within a few hours on a single NVIDIA RTX 4080 GPU. SDPG…

We present a method for fast training of vision based control policies on real robots. The key idea behind our method is to perform multi-task Reinforcement Learning with auxiliary tasks that differ not only in the reward to be optimized…

Deploying reinforcement learning in the real world remains challenging due to sample inefficiency, sparse rewards, and noisy visual observations. Prior work leverages demonstrations and human feedback to improve learning efficiency and…

Deep reinforcement learning (RL) has proven a powerful technique in many sequential decision making domains. However, Robotics poses many challenges for RL, most notably training on a physical system can be expensive and dangerous, which…

Recently, equivariant neural network models have been shown to improve sample efficiency for tasks in computer vision and reinforcement learning. This paper explores this idea in the context of on-robot policy learning in which a policy…

Reinforcement learning (RL) has been shown to be effective at learning control from experience. However, RL typically requires a large amount of online interaction with the environment. This limits its applicability to real-world settings,…

Model-free deep reinforcement learning (RL) algorithms have been successfully applied to a range of challenging sequential decision making and control tasks. However, these methods typically suffer from two major challenges: high sample…

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…

Automated vehicle control using reinforcement learning (RL) has attracted significant attention due to its potential to learn driving policies through environment interaction. However, RL agents often face training challenges in sample…

Reinforcement learning (RL) is a core approach for robot control when expert demonstrations are unavailable. On-policy methods such as Proximal Policy Optimization (PPO) are widely used for their stability, but their reliance on narrowly…

Recent advancements in off-policy Reinforcement Learning (RL) have significantly improved sample efficiency, primarily due to the incorporation of various forms of regularization that enable more gradient update steps than traditional…

Quadcopter attitude control involves two tasks: smooth attitude tracking and aggressive stabilization from arbitrary states. Although both can be formulated as tracking problems, their distinct state spaces and control strategies complicate…

Deriving fast and effectively coordinated control actions remains a grand challenge affecting the secure and economic operation of today's large-scale power grid. This paper presents a novel artificial intelligence (AI) based methodology to…

Simulation to Real-World Transfer allows affordable and fast training of learning-based robots for manipulation tasks using Deep Reinforcement Learning methods. Currently, Sim2Real uses Asymmetric Actor-Critic approaches to reduce the rich…

Reinforcement learning is time-consuming for complex tasks due to the need for large amounts of training data. Recent advances in GPU-based simulation, such as Isaac Gym, have sped up data collection thousands of times on a commodity GPU.…

We study the training performance of ROS local planners based on Reinforcement Learning (RL), and the trajectories they produce on real-world robots. We show that recent enhancements to the Soft Actor Critic (SAC) algorithm such as RAD and…

We focus on developing efficient and reliable policy optimization strategies for robot learning with real-world data. In recent years, policy gradient methods have emerged as a promising paradigm for training control policies in simulation.…

Quantum computing has a superior advantage in tackling specific problems, such as integer factorization and Simon's problem. For more general tasks in machine learning, by applying variational quantum circuits, more and more quantum…