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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representative citing papers
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Minimum-flow GFlowNets on graphs encode optimal transport plans, with the learned policy recovering the optimal coupling between source and target distributions.
A training-free survival regression approach uses tabular foundation models to build an accelerated failure time model and iteratively impute right-censored data with a non-parametric in-context estimator, matching the performance of trained Cox and parametric AFT models on benchmarks.
Periodic and soft target updates guarantee convergence in linear Q-learning to the exact projected Q-Bellman solution under spectral and step-size conditions via joint spectral radius analysis of switched linear systems.
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Wasserstein policy gradient converges globally in entropy-regularized RL via Bellman-induced distributional PL geometry and uniform LSI, yielding geometric contraction up to discretization bias.
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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.
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A model-free reinforcement learning agent learns to align crystals from diffraction images without human supervision or theoretical knowledge.
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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.
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citing papers explorer
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A Provably Robust Multi-Jet Framework applied to Active Flow Control of an Airfoil in Weakly Compressible Flow
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.
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Reward hacking in physical reinforcement learning revealed by turbulent drag reduction
Reward hacking in RL for wall-turbulence control is exposed through mass-conserving projection, memoryless policies, and pressure-gradient rewards; fixes yield honest 17% drag reduction.
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Policy-DRIFT: Dynamic Reward-Informed Flow Trajectory Steering
Policy-DRIFT combines conditional flow matching with terminal reward guidance and decoupled DRL to achieve 49% drag reduction in Re_tau=180 channel flow, 16% above DRL benchmarks and with 37 times less actuation energy.
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Physics-guided surrogate learning enables zero-shot control of turbulent wings
Zero-shot RL control trained on matched channel flows reduces skin-friction drag 28.7% and total drag 10.7% on a NACA4412 wing, outperforming opposition control.