相关论文: Fisher Decorator: Refining Flow Policy via a Local…
This paper proposes a new regularization technique for reinforcement learning (RL) towards making policy and value functions smooth and stable. RL is known for the instability of the learning process and the sensitivity of the acquired…
We describe an application of Wasserstein distance to Reinforcement Learning. The Wasserstein distance in question is between the distribution of mappings of trajectories of a policy into some metric space, and some other fixed distribution…
In robotics and multi-agent systems, fleets of autonomous agents often operate in subtly different environments while pursuing a common high-level objective. Directly pooling their data to learn a shared reward function is typically…
Reinforcement learning (RL) has achieved strong performance in robotic control; however, state-of-the-art policy learning methods, such as actor-critic methods, still suffer from high sample complexity and often produce physically…
Deep reinforcement learning (DRL) is a promising outer-loop intelligence paradigm which can deploy problem solving strategies for complex tasks. Consequently, DRL has been utilized for several scientific applications, specifically in cases…
In offline reinforcement learning (RL), one detrimental issue to policy learning is the error accumulation of deep Q function in out-of-distribution (OOD) areas. Unfortunately, existing offline RL methods are often over-conservative,…
Offline reinforcement learning (RL) is a challenging setting where existing off-policy actor-critic methods perform poorly due to the overestimation of out-of-distribution state-action pairs. Thus, various additional augmentations are…
We introduce a new approach for comparing reinforcement learning policies, using Wasserstein distances (WDs) in a newly defined latent behavioral space. We show that by utilizing the dual formulation of the WD, we can learn score functions…
In this work, Yoshikawa's manipulability index is used to investigate reinforcement learning (RL) as a framework for morphology optimization in planar robotic manipulators. A 2R manipulator tracking a circular end-effector path is first…
Fine-grained urban flow inference is crucial for urban planning and intelligent transportation systems, enabling precise traffic management and resource allocation. However, the practical deployment of existing methods is hindered by two…
We propose a reinforcement learning (RL) framework for the dynamic selection of the filter parameter in Evolve-Filter (EF) regularization strategies for incompressible turbulent flows. Instead of prescribing the filter radius heuristically,…
Reinforcement learning (RL) is a promising tool to solve robust optimal well control problems where the model parameters are highly uncertain, and the system is partially observable in practice. However, RL of robust control policies often…
The Optimal Transport (a.k.a. Wasserstein) distance is an increasingly popular similarity measure for rich data domains, such as images or text documents. This raises the necessity for fast nearest neighbor search algorithms according to…
Navigating in a fluid flow while being carried by it, using only information accessible from on-board sensors, is a problem commonly faced by small planktonic organisms. It is also directly relevant to autonomous robots deployed in the…
We study computationally and statistically efficient reinforcement learning under the linear $Q^{\pi}$ realizability assumption, where any policy's $Q$-function is linear in a given state-action feature representation. Prior methods in this…
The core challenge of offline reinforcement learning (RL) is dealing with the (potentially catastrophic) extrapolation error induced by the distribution shift between the history dataset and the desired policy. A large portion of prior work…
Generative Flow Networks (GFlowNets) are recently proposed models for learning stochastic policies that generate compositional objects by sequences of actions with the probability proportional to a given reward function. The central problem…
In many real-world applications, reinforcement learning (RL) agents might have to solve multiple tasks, each one typically modeled via a reward function. If reward functions are expressed linearly, and the agent has previously learned a set…
Efficient point-to-point navigation in the presence of a background flow field is important for robotic applications such as ocean surveying. In such applications, robots may only have knowledge of their immediate surroundings or be faced…
Despite ample motivation from costly exploration and limited trajectory data, rapidly adapting to new environments with few-shot reinforcement learning (RL) can remain a challenging task, especially with respect to personalized settings.…