相关论文: Training Reinforcement Neurocontrollers Using the …

An off policy reinforcement learning based control strategy is developed for the optimal tracking control problem to achieve the prescribed performance of full states during the learning process. The optimal tracking control problem is…

Efficiently training a multi-task neural solver for various combinatorial optimization problems (COPs) has been less studied so far. Naive application of conventional multi-task learning approaches often falls short in delivering a…

An artificial neural network can be trained by uniformly broadcasting a reward signal to units that implement a REINFORCE learning rule. Though this presents a biologically plausible alternative to backpropagation in training a network, the…

We present a method for efficient learning of control policies for multiple related robotic motor skills. Our approach consists of two stages, joint training and specialization training. During the joint training stage, a neural network…

Recent advances in reasoning domains with neural networks have primarily been enabled by a training recipe that optimizes Large Language Models, previously trained to predict the next-token in a sequence, with reinforcement learning…

We introduce a novel strategy for multi-robot sorting of waste objects using Reinforcement Learning. Our focus lies on finding optimal picking strategies that facilitate an effective coordination of a multi-robot system, subject to…

Machine Learning algorithms have been extensively researched throughout the last decade, leading to unprecedented advances in a broad range of applications, such as image classification and reconstruction, object recognition, and text…

We propose a federated learning method with weighted nodes in which the weights can be modified to optimize the model's performance on a separate validation set. The problem is formulated as a bilevel optimization where the inner problem is…

Policy optimization in reinforcement learning requires the selection of numerous hyperparameters across different environments. Fixing them incorrectly may negatively impact optimization performance leading notably to insufficient or…

We study the problem of infinite-horizon average-reward reinforcement learning with linear Markov decision processes (MDPs). The associated Bellman operator of the problem not being a contraction makes the algorithm design challenging.…

This paper proposes a simulation-based reinforcement learning algorithm for controlling systems with uncertain and varying system parameters. While simulators are useful for safely learning control policies, the reality gap remains a major…

The field of quickest change detection (QCD) focuses on the design and analysis of online algorithms that estimate the time at which a significant event occurs. In this paper, design and analysis are cast in a Bayesian framework, where QCD…

Several earlier studies have shown impressive control performance in complex robotic systems by designing the controller using a neural network and training it with model-free reinforcement learning. However, these outstanding controllers…

This paper introduces a new method for safety-aware robot learning, focusing on repairing policies using predictive models. Our method combines behavioral cloning with neural network repair in a two-step supervised learning framework. It…

Inspired by the natural nervous system, synaptic plasticity rules are applied to train spiking neural networks with local information, making them suitable for online learning on neuromorphic hardware. However, when such rules are…

Policy iteration is one of the classical frameworks of reinforcement learning, which requires a known initial stabilizing control. However, finding the initial stabilizing control depends on the known system model. To relax this requirement…

Using the policy gradient algorithm, we train a single-hidden-layer neural network to balance a physically accurate simulation of a single inverted pendulum. The trained weights and biases can then be transferred to a physical agent, where…

Reinforcement learning is a model-free optimal control method that optimizes a control policy through direct interaction with the environment. For reaching tasks that end in regulation, popular discrete-action methods are not well suited…

This research focuses on enhancing reinforcement learning (RL) algorithms by integrating penalty functions to guide agents in avoiding unwanted actions while optimizing rewards. The goal is to improve the learning process by ensuring that…

For general multi-hop queueing networks, delay optimal network control has unfortunately been an outstanding problem. The dynamic backpressure (BP) algorithm elegantly achieves throughput optimality, but does not yield good delay…