First in-orbit demonstration of a DRL-trained AI satellite attitude controller that performs robust inertial pointing after sim-to-real transfer.
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Continuous control with deep reinforcement learning
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abstract
We adapt the ideas underlying the success of Deep Q-Learning to the continuous action domain. We present an actor-critic, model-free algorithm based on the deterministic policy gradient that can operate over continuous action spaces. Using the same learning algorithm, network architecture and hyper-parameters, our algorithm robustly solves more than 20 simulated physics tasks, including classic problems such as cartpole swing-up, dexterous manipulation, legged locomotion and car driving. Our algorithm is able to find policies whose performance is competitive with those found by a planning algorithm with full access to the dynamics of the domain and its derivatives. We further demonstrate that for many of the tasks the algorithm can learn policies end-to-end: directly from raw pixel inputs.
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- abstract We adapt the ideas underlying the success of Deep Q-Learning to the continuous action domain. We present an actor-critic, model-free algorithm based on the deterministic policy gradient that can operate over continuous action spaces. Using the same learning algorithm, network architecture and hyper-parameters, our algorithm robustly solves more than 20 simulated physics tasks, including classic problems such as cartpole swing-up, dexterous manipulation, legged locomotion and car driving. Our algorithm is able to find policies whose performance is competitive with those found by a planning algo
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Consistency models achieve fast one-step generation with SOTA FID of 3.55 on CIFAR-10 and 6.20 on ImageNet 64x64 by directly mapping noise to data, outperforming prior distillation techniques.
Generalized advantage estimation combined with trust region optimization enables stable neural network policy learning for complex continuous control from raw kinematics.
Establishes maximal concentration bounds for stochastic approximation under heavy-tailed Markovian noise, with tails ranging from sub-Gaussian to heavier than Weibull depending on step sizes and contractivity properties, plus a truncation argument for unbounded noise.
A reference-decoupled reformulation makes direct data-driven LQT equivalent to certainty-equivalence solutions and supports convergent offline and online DeePO algorithms.
DRATS derives a minimax objective from a feasibility formulation of MTRL to adaptively sample tasks with the largest return gaps, leading to better worst-task performance on MetaWorld benchmarks.
A new marginalized reparameterization estimator allows low-variance training of mixture policies in entropy-regularized actor-critic algorithms, matching or exceeding Gaussian policy performance in several continuous control benchmarks.
The reciprocity gradient allows agents to learn near-optimal context-sensitive policies by analytically propagating reward gradients through reputation chains in multi-agent settings.
Derives loss-to-TV bounds providing probabilistic guarantees for GFlowNets and introduces Stable GFlowNets algorithm for improved training stability and distributional fidelity.
A new injective multi-jet framework for RL flow control provides jet-count-independent running cost upper bounds and enables superior coordinated jet strategies, achieving drag suppression beyond symmetric ideals on cylinders and aerodynamic efficiency gains from 53% to 73% on airfoils.
SRSD uses human-provided semantic labels to learn rewards that encourage reinforcement learning agents to discover a wide variety of meaningful and distinct behaviors.
Intentional TD and Intentional Policy Gradient select step sizes for fixed fractional TD error reduction and bounded policy KL divergence, yielding stable streaming deep RL performance on par with batch methods.
A model-free reinforcement learning agent learns to align crystals from diffraction images without human supervision or theoretical knowledge.
A litmus test based on reachset-conformant model identification and correlation analysis of uncertainties predicts if RL-based control is superior to model-based control without any RL training.
Frictional Q-Learning encodes supported actions as tangent directions on an action manifold using a contrastive variational autoencoder to reduce extrapolation errors in off-policy reinforcement learning.
Action aliasing from safety projections harms policy-gradient estimates more severely when the projection is inside the policy than when it is outside, but a penalty term restores competitiveness.
Guided RL using Bezier curves and UARM model enables efficient, explainable omnidirectional jumping in quadruped robots.
DSRL steers pretrained diffusion policies for robotics by applying RL to their latent noise inputs, achieving sample-efficient real-world adaptation with only black-box access.
DR-SAC is the first actor-critic distributionally robust RL algorithm for offline continuous control that derives a convergent robust soft policy iteration and reports up to 9.8x higher rewards than SAC under perturbations.
vsOED uses a variational one-point reward and RL policy optimization to provide a lower bound on expected information gain for sequential experimental design, supporting nuisance parameters, implicit likelihoods, and multiple design goals.
DreamerV3 uses world models and robustness techniques to solve over 150 tasks across domains with a single configuration, including Minecraft diamond collection from scratch.
Diffusion-QL uses conditional diffusion models as expressive policies in offline RL by coupling behavior cloning with Q-value maximization, achieving SOTA on most D4RL tasks.
Dreamer learns to control from images by imagining and optimizing behaviors in a learned latent world model, outperforming prior methods on 20 visual tasks in data efficiency and final performance.
Introduces a benchmark suite of over 18 MBRL environments, evaluates multiple algorithms under consistent settings, and identifies three core challenges: dynamics bottleneck, planning horizon dilemma, and early-termination dilemma.
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