相关论文: Hybrid TD3: Overestimation Bias Analysis and Stabl…

Policy iteration is one of the classical frameworks of reinforcement learning, which requires a known initial stabilizing control. However, finding the initial stabilizing control depends on the known system model. To relax this requirement…

Finding tight bounds on the optimal solution is a critical element of practical solution methods for discrete optimization problems. In the last decade, decision diagrams (DDs) have brought a new perspective on obtaining upper and lower…

In the spatial action representation, the action space spans the space of target poses for robot motion commands, i.e. SE(2) or SE(3). This approach has been used to solve challenging robotic manipulation problems and shows promise.…

We address the problem of safely solving complex bimanual robot manipulation tasks with sparse rewards. Such challenging tasks can be decomposed into sub-tasks that are accomplishable by different robots concurrently or sequentially for…

Agents trained with deep reinforcement learning algorithms are capable of performing highly complex tasks including locomotion in continuous environments. We investigate transferring the learning acquired in one task to a set of previously…

Combining off-policy reinforcement learning methods with function approximators such as neural networks has been found to lead to overestimation of the value function and sub-optimal solutions. Improvement such as TD3 has been proposed to…

When the agent's observations or interactions are delayed, classic reinforcement learning tools usually fail. In this paper, we propose a simple yet new and efficient solution to this problem. We assume that, in the undelayed environment,…

Large optimization problems with hard constraints arise in many settings, yet classical solvers are often prohibitively slow, motivating the use of deep networks as cheap "approximate solvers." Unfortunately, naive deep learning approaches…

In this paper, we introduce proximal gradient temporal difference learning, which provides a principled way of designing and analyzing true stochastic gradient temporal difference learning algorithms. We show how gradient TD (GTD)…

Deep reinforcement learning (DRL) has achieved remarkable success in a wide range of sequential decision-making applications, including robotics, healthcare, smart grids, and finance. Recent studies reveal that adversaries can implant…

We present a method for efficient learning of control policies for multiple related robotic motor skills. Our approach consists of two stages, joint training and specialization training. During the joint training stage, a neural network…

Reinforcement learning agents in complex game environments often suffer from sparse rewards, training instability, and poor sample efficiency. This paper presents a hybrid training approach that combines offline imitation learning with…

Learning actions that are relevant to decision-making and can be executed effectively is a key problem in autonomous robotics. Current state-of-the-art action representations in robotics lack proper effect-driven learning of the robot's…

It has long been assumed that high dimensional continuous control problems cannot be solved effectively by discretizing individual dimensions of the action space due to the exponentially large number of bins over which policies would have…

We explore fixed-horizon temporal difference (TD) methods, reinforcement learning algorithms for a new kind of value function that predicts the sum of rewards over a $\textit{fixed}$ number of future time steps. To learn the value function…

While many algorithmic extensions to Deep Q-Networks (DQN) have been proposed, there remains limited understanding of how different improvements interact. In particular, multi-step and ensemble style extensions have shown promise in…

Control of underactuated dynamical systems has been studied for decades in robotics, and is now emerging in other fields such as neuroscience. Most of the advances have been in model based control theory, which has limitations when the…

We present AnchorDP3, a diffusion policy framework for dual-arm robotic manipulation that achieves state-of-the-art performance in highly randomized environments. AnchorDP3 integrates three key innovations: (1) Simulator-Supervised Semantic…

Deep-learning-based intelligent services have become prevalent in cyber-physical applications including smart cities and health-care. Collaborative end-edge-cloud computing for deep learning provides a range of performance and efficiency…

Existing quadrupedal locomotion learning paradigms usually rely on extensive domain randomization to alleviate the sim2real gap and enhance robustness. It trains policies with a wide range of environment parameters and sensor noises to…