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

In neural combinatorial optimization (CO), reinforcement learning (RL) can turn a deep neural net into a fast, powerful heuristic solver of NP-hard problems. This approach has a great potential in practical applications because it allows…

Cross-robot policy learning -- training a single policy to perform well across multiple embodiments -- remains a central challenge in robot learning. Transformer-based policies, such as vision-language-action (VLA) models, are typically…

Proximal policy optimization (PPO) is one of the most popular state-of-the-art on-policy algorithms that has become a standard baseline in modern reinforcement learning with applications in numerous fields. Though it delivers stable…

Proximal Policy Optimization (PPO) is widely used in continuous control due to its robustness and stable training, yet it remains sample-inefficient in tasks with expensive interactions and high-dimensional action spaces. This paper…

Multiresolution topology optimization (MTO) methods involve decoupling of the design and analysis discretizations, such that a high-resolution design can be obtained at relatively low analysis costs. Recent studies have shown that the MTO…

Training an agent to adapt to specific tasks through co-optimization of morphology and control has widely attracted attention. However, whether there exists an optimal configuration and tactics for agents in a multiagent competition…

Proximal policy optimization (PPO) is a widely-used algorithm for on-policy reinforcement learning. This work offers an alternative perspective of PPO, in which it is decomposed into the inner-loop estimation of update vectors, and the…

Topology optimization is a powerful tool utilized in various fields for structural design. However, its application has primarily been restricted to static or passively moving objects, mainly focusing on hard materials with limited…

We introduce LOKI, a compute-efficient framework for co-designing morphologies and control policies that generalize across unseen tasks. Inspired by biological adaptation -- where animals quickly adjust to morphological changes -- our…

Spatial public goods games model collective dilemmas where individual payoffs depend on population-level strategy configurations. Most existing studies rely on evolutionary update rules or value-based reinforcement learning methods. These…

Multi-turn GUI agents enable complex task completion through sequential decision-making, but suffer from severe context inflation as interaction history accumulates. Existing strategies either sacrifice long-term context via truncation or…

The physical design of a robot and the policy that controls its motion are inherently coupled, and should be determined according to the task and environment. In an increasing number of applications, data-driven and learning-based…

Proximal Policy Optimization algorithm employing a clipped surrogate objective (PPO-Clip) is a prominent exemplar of the policy optimization methods. However, despite its remarkable empirical success, PPO-Clip lacks theoretical…

The process of robot design is a complex task and the majority of design decisions are still based on human intuition or tedious manual tuning. A more informed way of facing this task is computational design methods where design parameters…

Proximal policy optimization(PPO) has been proposed as a first-order optimization method for reinforcement learning. We should notice that an exterior penalty method is used in it. Often, the minimizers of the exterior penalty functions…

Co-designing autonomous robotic agents involves simultaneously optimizing the controller and physical design of the agent. Its inherent bi-level optimization formulation necessitates an outer loop design optimization driven by an inner loop…

A core challenge in policy optimization in competitive Markov decision processes is the design of efficient optimization methods with desirable convergence and stability properties. To tackle this, we propose competitive policy optimization…

While large language models (LLMs) have recently made tremendous progress towards solving challenging AI problems, they have done so at increasingly steep computational and API costs. We propose a novel strategy where we combine multiple…

We introduce a novel co-design method for autonomous moving agents' shape attributes and locomotion by combining deep reinforcement learning and evolution with user control. Our main inspiration comes from evolution, which has led to wide…

Alignment in artificial intelligence pursues the consistency between model responses and human preferences as well as values. In practice, the multifaceted nature of human preferences inadvertently introduces what is known as the "alignment…