相关论文: Actor-Critic Pretraining for Proximal Policy Optim…

In this paper, we tackle the challenging problem of delayed rewards in reinforcement learning (RL). While Proximal Policy Optimization (PPO) has emerged as a leading Policy Gradient method, its performance can degrade under delayed rewards.…

Deep reinforcement learning agents frequently suffer from premature convergence, where early entropy collapse causes the policy to discard exploratory behaviors before discovering globally optimal strategies. We introduce Optimistic Policy…

In this paper, we propose the use of generative artificial intelligence (AI) to improve zero-shot performance of a pre-trained policy by altering observations during inference. Modern robotic systems, powered by advanced neural networks,…

As with any machine learning problem with limited data, effective offline RL algorithms require careful regularization to avoid overfitting. One-step methods perform regularization by doing just a single step of policy improvement, while…

Offline reinforcement learning (RL) can learn effective policies from fixed datasets, but deployment objectives may change after training, and in many applications the trained actor cannot be retrained because of data, cost, or governance…

The policy gradient method enjoys the simplicity of the objective where the agent optimizes the cumulative reward directly. Moreover, in the continuous action domain, parameterized distribution of action distribution allows easy control of…

In offline-to-online reinforcement learning (O2O-RL), policies are first safely trained offline using previously collected datasets and then further fine-tuned for tasks via limited online interactions. In a typical O2O-RL pipeline,…

On-policy reinforcement learning (RL) algorithms are widely used for their strong asymptotic performance and training stability, but they struggle to scale with larger batch sizes, as additional parallel environments yield redundant data…

Substantial advancements to model-based reinforcement learning algorithms have been impeded by the model-bias induced by the collected data, which generally hurts performance. Meanwhile, their inherent sample efficiency warrants utility for…

Training reinforcement learning policies using environment interaction data collected from varying policies or dynamics presents a fundamental challenge. Existing works often overlook the distribution discrepancies induced by policy or…

Preference-based reinforcement learning (PbRL) has shown significant promise for personalization in human-robot interaction (HRI) by explicitly integrating human preferences into the robot learning process. However, existing practices often…

Proximal Policy Optimization (PPO) is a popular model-free reinforcement learning algorithm, esteemed for its simplicity and efficacy. However, due to its inherent on-policy nature, its proficiency in harnessing data from disparate policies…

Imitation learning has proven effective for training robots to perform complex tasks from expert human demonstrations. However, it remains limited by its reliance on high-quality, task-specific data, restricting adaptability to the diverse…

Autonomous exploration of obstacle-rich spaces requires strategies that ensure efficiency while guaranteeing safety against collisions with obstacles. This paper investigates a novel platform-agnostic reinforcement learning framework that…

Robot learning tasks are extremely compute-intensive and hardware-specific. Thus the avenues of tackling these challenges, using a diverse dataset of offline demonstrations that can be used to train robot manipulation agents, is very…

In this work, we propose Behavior-Guided Actor-Critic (BAC), an off-policy actor-critic deep RL algorithm. BAC mathematically formulates the behavior of the policy through autoencoders by providing an accurate estimation of how frequently…

Reducing operation and maintenance costs is a key objective for advanced reactors in general and microreactors in particular. To achieve this reduction, developing robust autonomous control algorithms is essential to ensure safe and…

This paper presents Post-Decision Proximal Policy Optimization (PDPPO), a novel variation of the leading deep reinforcement learning method, Proximal Policy Optimization (PPO). The PDPPO state transition process is divided into two steps: a…

We present the first class of policy-gradient algorithms that work with both state-value and policy function-approximation, and are guaranteed to converge under off-policy training. Our solution targets problems in reinforcement learning…

Learning control policies offline from pre-recorded datasets is a promising avenue for solving challenging real-world problems. However, available datasets are typically of mixed quality, with a limited number of the trajectories that we…