相关论文: Efficient Morphology-Control Co-Design via Stackel…

Model predictive control (MPC) is a promising approach for the lateral and longitudinal control of autonomous vehicles. However, the parameterization of the MPC with respect to high-level requirements such as passenger comfort as well as…

Compound AI systems, comprising multiple interacting components such as LLMs, foundation models, and external tools, have demonstrated remarkable improvements compared to single models in various tasks. To ensure their effective deployment…

Proximal Policy Optimization (PPO) has become the de facto standard for training legged robots, thanks to its robustness and scalability in massively parallel simulation environments like IsaacLab. However, its on-policy nature makes it…

We consider a system of two bosonic modes each subject to the dynamics induced by a thermal Markovian environment and we identify instantaneous, local symplectic controls that minimise the loss of entanglement in the Gaussian regime. By…

Inclusion of contact in mechanical designs opens a large range of design possibilities, this includes classical designs with contact, such as gears, couplings, switches, clamps etc. However, incorporation of contact in topology optimization…

The Integrated Information Theory provides a quantitative approach to consciousness and can be applied to neural networks. An embodied agent controlled by such a network influences and is being influenced by its environment. This involves,…

Hyperparameter optimization (HPO) is generally treated as a bi-level optimization problem that involves fitting a (probabilistic) surrogate model to a set of observed hyperparameter responses, e.g. validation loss, and consequently…

Robust control of complex engineered and biological systems hinges on the integration of feedforward and feedback mechanisms. This is exemplified in neural motor control, where feedforward muscle co-contraction complements sensory-driven…

Proximal Policy Optimization (PPO) is central to aligning Large Language Models (LLMs) in reasoning tasks with verifiable rewards. However, standard token-level PPO struggles in this setting due to the instability of temporal credit…

Safe reinforcement learning aims to learn the optimal policy while satisfying safety constraints, which is essential in real-world applications. However, current algorithms still struggle for efficient policy updates with hard constraint…

Optimizing the body and brain of a robot is a coupled challenge: the morphology determines what control strategies are effective, while the control parameters influence how well the morphology performs. This joint optimization can be done…

Pure Pursuit (PP) is widely used in autonomous racing for real-time path tracking due to its efficiency and geometric clarity, yet performance is highly sensitive to how key parameters-lookahead distance and steering gain-are chosen.…

To enhance controllability in text-to-image generation, ControlNet introduces image-based control signals, while ControlNet++ improves pixel-level cycle consistency between generated images and the input control signal. To avoid the…

Chemical process optimization and control are affected by 1) plant-model mismatch, 2) process disturbances, and 3) constraints for safe operation. Reinforcement learning by policy optimization would be a natural way to solve this due to its…

Reward-based alignment methods for large language models (LLMs) face two key limitations: vulnerability to reward hacking, where models exploit flaws in the reward signal; and reliance on brittle, labor-intensive prompt engineering when…

Moving Morphable Component (MMC) based topology optimization approach is an explicit algorithm since the boundary of the entity explicitly described by its functions. Compared with other pixel or node point-based algorithms, it is optimized…

AI alignment in the shape of Reinforcement Learning from Human Feedback (RLHF) is increasingly treated as a crucial ingredient for high performance large language models. Proximal Policy Optimization (PPO) has been positioned by recent…

Reinforcement learning (RL) is inherently rife with non-stationarity since the states and rewards the agent observes during training depend on its changing policy. Therefore, networks in deep RL must be capable of adapting to new…

The study of decentralized learning or independent learning in cooperative multi-agent reinforcement learning has a history of decades. Recently empirical studies show that independent PPO (IPPO) can obtain good performance, close to or…

Soft robotics are increasingly favoured in specific applications such as healthcare, due to their adaptability, which stems from the non-linear properties of their building materials. However, these properties also pose significant…