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

Deep learning and reinforcement learning methods have recently been used to solve a variety of problems in continuous control domains. An obvious application of these techniques is dexterous manipulation tasks in robotics which are…

We address the issue of estimation bias in deep reinforcement learning (DRL) by introducing solution mechanisms that include a new, twin TD-regularized actor-critic (TDR) method. It aims at reducing both over and under-estimation errors.…

Instability and slowness are two main problems in deep reinforcement learning. Even if proximal policy optimization (PPO) is the state of the art, it still suffers from these two problems. We introduce an improved algorithm based on…

Optimal execution is a sequential decision-making problem for cost-saving in algorithmic trading. Studies have found that reinforcement learning (RL) can help decide the order-splitting sizes. However, a problem remains unsolved: how to…

Legged locomotion is a complex control problem that requires both accuracy and robustness to cope with real-world challenges. Legged systems have traditionally been controlled using trajectory optimization with inverse dynamics. Such…

Policy optimization in high-dimensional continuous control for robotics remains a challenging problem. Predominant methods are inherently local and often require extensive tuning and carefully chosen initial guesses for good performance,…

Synthesizing planning and control policies in robotics is a fundamental task, further complicated by factors such as complex logic specifications and high-dimensional robot dynamics. This paper presents a novel reinforcement learning…

The breakthrough of deep Q-Learning on different types of environments revolutionized the algorithmic design of Reinforcement Learning to introduce more stable and robust algorithms, to that end many extensions to deep Q-Learning algorithm…

Reinforcement learning tasks in real-world scenarios often involve large, high-dimensional action spaces, leading to challenges such as convergence difficulties, instability, and high computational complexity. It is widely acknowledged that…

Control of batch processes is a difficult task due to their complex nonlinear dynamics and unsteady-state operating conditions within batch and batch-to-batch. It is expected that some of these challenges can be addressed by developing…

Quantum circuits embed data in a Hilbert space whose dimensionality grows exponentially with the number of qubits, allowing even shallow parameterised quantum circuits (PQCs) to represent highly-correlated probability distributions that are…

Off-policy reinforcement learning has many applications including: learning from demonstration, learning multiple goal seeking policies in parallel, and representing predictive knowledge. Recently there has been an proliferation of new…

Reinforcement Learning algorithms have recently been proposed to learn time-sequential control policies in the field of autonomous driving. Direct applications of Reinforcement Learning algorithms with discrete action space will yield…

We introduce a new on-policy algorithm called Rewarded Region Replay (R3), which significantly improves on PPO in solving environments with discrete action spaces. R3 improves sample efficiency by using a replay buffer which contains past…

Deep Deterministic Policy Gradient (DDPG) algorithm is one of the most well-known reinforcement learning methods. However, this method is inefficient and unstable in practical applications. On the other hand, the bias and variance of the Q…

Electric Vehicles (EVs) offer substantial flexibility for grid services, yet large-scale, uncoordinated charging can threaten voltage stability in distribution networks. Existing Reinforcement Learning (RL) approaches for smart charging…

Skilled robot task learning is best implemented by predictive action policies due to the inherent latency of sensorimotor processes. However, training such predictive policies is challenging as it involves finding a trajectory of motor…

3D policy learning promises superior generalization and cross-embodiment transfer, but progress has been hindered by training instabilities and severe overfitting, precluding the adoption of powerful 3D perception models. In this work, we…

Reliable satellite attitude control is essential for the success of space missions, particularly as satellites increasingly operate autonomously in dynamic and uncertain environments. Reaction wheels (RWs) play a pivotal role in attitude…

The objective of this study is to develop a model-free workspace trajectory planner for space manipulators using a Twin Delayed Deep Deterministic Policy Gradient (TD3) agent to enable safe and reliable debris capture. A local control…