相关论文: FlashSAC: Fast and Stable Off-Policy Reinforcement…

Reinforcement learning (RL) is widely used for humanoid control, with on-policy methods such as Proximal Policy Optimization (PPO) enabling robust training via large-scale parallel simulation and, in some cases, zero-shot deployment to real…

Traditional Reinforcement Learning (RL) policies are typically implemented with fixed control rates, often disregarding the impact of control rate selection. This can lead to inefficiencies as the optimal control rate varies with task…

Offline reinforcement learning (RL) looks at learning how to optimally solve tasks using a fixed dataset of interactions from the environment. Many off-policy algorithms developed for online learning struggle in the offline setting as they…

Model-free deep reinforcement learning (RL) algorithms have been successfully applied to a range of challenging sequential decision making and control tasks. However, these methods typically suffer from two major challenges: high sample…

In reinforcement learning (RL), function approximation errors are known to easily lead to the Q-value overestimations, thus greatly reducing policy performance. This paper presents a distributional soft actor-critic (DSAC) algorithm, which…

Offline Safe Reinforcement Learning (RL) seeks to address safety constraints by learning from static datasets and restricting exploration. However, these approaches heavily rely on the dataset and struggle to generalize to unseen scenarios…

Reinforcement learning provides an appealing framework for robotic control due to its ability to learn expressive policies purely through real-world interaction. However, this requires addressing real-world constraints and avoiding…

Model-free deep reinforcement learning (RL) algorithms have been demonstrated on a range of challenging decision making and control tasks. However, these methods typically suffer from two major challenges: very high sample complexity and…

Reinforcement learning (RL) provides an appealing formalism for learning control policies from experience. However, the classic active formulation of RL necessitates a lengthy active exploration process for each behavior, making it…

Massively parallel simulation has reduced reinforcement learning (RL) training time for robots from days to minutes. However, achieving fast and reliable sim-to-real RL for humanoid control remains difficult due to the challenges introduced…

The goal of offline reinforcement learning is to learn a policy from a fixed dataset, without further interactions with the environment. This setting will be an increasingly more important paradigm for real-world applications of…

Deploying reinforcement learning in the real world remains challenging due to sample inefficiency, sparse rewards, and noisy visual observations. Prior work leverages demonstrations and human feedback to improve learning efficiency and…

Recent advances in behavior cloning (BC) have enabled impressive visuomotor control policies. However, these approaches are limited by the quality of human demonstrations, the manual effort required for data collection, and the diminishing…

Most prior approaches to offline reinforcement learning (RL) utilize \textit{behavior regularization}, typically augmenting existing off-policy actor critic algorithms with a penalty measuring divergence between the policy and the offline…

Recent advancements in off-policy Reinforcement Learning (RL) have significantly improved sample efficiency, primarily due to the incorporation of various forms of regularization that enable more gradient update steps than traditional…

Automated vehicle control using reinforcement learning (RL) has attracted significant attention due to its potential to learn driving policies through environment interaction. However, RL agents often face training challenges in sample…

Reinforcement Learning (RL) can effectively learn complex policies. However, learning these policies often demands extensive trial-and-error interactions with the environment. In many real-world scenarios, this approach is not practical due…

Deploying controllers trained with Reinforcement Learning (RL) on real robots can be challenging: RL relies on agents' policies being modeled as Markov Decision Processes (MDPs), which assume an inherently discrete passage of time. The use…

Autonomous racing presents unique challenges due to its non-linear dynamics, the high speed involved, and the critical need for real-time decision-making under dynamic and unpredictable conditions. Most traditional Reinforcement Learning…

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…