A locally-built, LLM-digested index of recent arXiv papers in quant finance, geometry/topology, and statistical ML — keyword search served straight from SQLite on this machine.
A new framework enables real-time task trade-off control.
Develops methods to control risk in ordinal classification tasks.
We present HiDe, a novel hierarchical reinforcement learning architecture that successfully solves long horizon control tasks and generalizes to unseen test scenarios. Functional decomposition between planning and low-level control is achieved by explicitly separating the state-action spaces across the hierarchy, which…
Reliable and effective multi-task learning is a prerequisite for the development of robotic agents that can quickly learn to accomplish related, everyday tasks. However, in the reinforcement learning domain, multi-task learning has not exhibited the same level of success as in other domains, such as computer vision. In…
Reinforcement Learning (RL) methods have been proven successful in solving manipulation tasks autonomously. However, RL is still not widely adopted on real robotic systems because working with real hardware entails additional challenges, especially when using rigid position-controlled manipulators. These challenges inc…
Weakly-supervised RL identifies meaningful tasks, improving performance in complex environments.
A language for specifying complex reinforcement learning tasks.
Learning robot tasks or controllers using deep reinforcement learning has been proven effective in simulations. Learning in simulation has several advantages. For example, one can fully control the simulated environment, including halting motions while performing computations. Another advantage when robots are involved…
Using reinforcement learning to learn control policies is a challenge when the task is complex with potentially long horizons. Ensuring adequate but safe exploration is also crucial for controlling physical systems. In this paper, we use temporal logic to facilitate specification and learning of complex tasks. We combi…
This paper presents a reinforcement learning approach to synthesizing task-driven control policies for robotic systems equipped with rich sensory modalities (e.g., vision or depth). Standard reinforcement learning algorithms typically produce policies that tightly couple control actions to the entirety of the system's …
Study uses DRL with Lagrangian relaxation to solve temporal control tasks with STL constraints.
Many continuous control tasks have easily formulated objectives, yet using them directly as a reward in reinforcement learning (RL) leads to suboptimal policies. Therefore, many classical control tasks guide RL training using complex rewards, which require tedious hand-tuning. We automate the reward search with AutoRL,…
Meta-CVs leverage task similarity to reduce variance with limited data.
Predicting outcomes and planning interactions with the physical world are long-standing goals for machine learning. A variety of such tasks involves continuous physical systems, which can be described by partial differential equations (PDEs) with many degrees of freedom. Existing methods that aim to control the dynamic…
In dynamic environments, learned controllers are supposed to take motion into account when selecting the action to be taken. However, in existing reinforcement learning works motion is rarely treated explicitly; it is rather assumed that the controller learns the necessary motion representation from temporal stacks of …
High-dimensional observations and unknown dynamics are major challenges when applying optimal control to many real-world decision making tasks. The Learning Controllable Embedding (LCE) framework addresses these challenges by embedding the observations into a lower dimensional latent space, estimating the latent dynami…
Multi-task learning uses auxiliary data or knowledge from relevant tasks to facilitate the learning in a new task. Multi-task optimization applies multi-task learning to optimization to study how to effectively and efficiently tackle multiple optimization problems simultaneously. Evolutionary multi-tasking, or multi-fa…
New RL algorithms improve control tasks with data reuse.
Curriculum learning and imitation learning improve control over financial time-series data.
Anticipatory model generates music with control over events.
We present a method for fast training of vision based control policies on real robots. The key idea behind our method is to perform multi-task Reinforcement Learning with auxiliary tasks that differ not only in the reward to be optimized but also in the state-space in which they operate. In particular, we allow auxilia…
Improved CEM for fast real-time planning in high-dimensional control tasks.
A new framework for controllable generation of discrete masked models.
Develops a method to plan exploration that learns strong policies with fewer samples.
Unified causal model improves controllable text generation without bias.
In partially observable (PO) environments, deep reinforcement learning (RL) agents often suffer from unsatisfactory performance, since two problems need to be tackled together: how to extract information from the raw observations to solve the task, and how to improve the policy. In this study, we propose an RL algorith…
Catastrophic forgetting continues to severely restrict the learnability of controllers suitable for multiple task environments. Efforts to combat catastrophic forgetting reported in the literature to date have focused on how control systems can be updated more rapidly, hastening their adjustment from good initial setti…
We propose a neural information processing system which is obtained by re-purposing the function of a biological neural circuit model, to govern simulated and real-world control tasks. Inspired by the structure of the nervous system of the soil-worm, C. elegans, we introduce Neuronal Circuit Policies (NCPs), defined as…
Framework calibrates ML models for risk control in various tasks.
Distribution grids are currently challenged by frequent voltage excursions induced by intermittent solar generation. Smart inverters have been advocated as a fast-responding means to regulate voltage and minimize ohmic losses. Since optimal inverter coordination may be computationally challenging and preset local contr…
A decentralized deep RL controller improves hexapod locomotion learning.
Meta-learning has emerged as an important framework for learning new tasks from just a few examples. The success of any meta-learning model depends on (i) its fast adaptation to new tasks, as well as (ii) having a shared representation across similar tasks. Here we extend the model-agnostic meta-learning (MAML) framewo…
Representation learning becomes especially important for complex systems with multimodal data sources such as cameras or sensors. Recent advances in reinforcement learning and optimal control make it possible to design control algorithms on these latent representations, but the field still lacks a large-scale standard …
Complex environments and tasks pose a difficult problem for holistic end-to-end learning approaches. Decomposition of an environment into interacting controllable and non-controllable objects allows supervised learning for non-controllable objects and universal value function approximator learning for controllable obje…
Iterative method learns unknown constraints for MPC control.
Proposes a new reinforcement learning method to improve agent performance in control tasks.
Improved LLM pre-training performance through better weight and variance control.
New text-to-image diffusion models improve scene understanding for AI agents.
Modern automation systems rely on closed loop control, wherein a controller interacts with a controlled process, based on observations. These systems are increasingly complex, yet most controllers are linear Proportional-Integral-Derivative (PID) controllers. PID controllers perform well on linear and near-linear syste…
As the range of tasks performed by a general vision system expands, executing multiple tasks accurately and efficiently in a single network has become an important and still open problem. Recent computer vision approaches address this problem by branching networks, or by a channel-wise modulation of the network feature…
New method disentangles perceptual uncertainty and behavioral costs in partially observable systems.
Deep reinforcement learning has been shown to solve challenging tasks where large amounts of training experience is available, usually obtained online while learning the task. Robotics is a significant potential application domain for many of these algorithms, but generating robot experience in the real world is expens…
New method calibrates diffusion models for image regression tasks.
Simulation-to-real transfer is an important strategy for making reinforcement learning practical with real robots. Successful sim-to-real transfer systems have difficulty producing policies which generalize across tasks, despite training for thousands of hours equivalent real robot time. To address this shortcoming, we…
We present an embedding of stochastic optimal control problems, of the so called path integral form, into reproducing kernel Hilbert spaces. Using consistent, sample based estimates of the embedding leads to a model free, non-parametric approach for calculation of an approximate solution to the control problem. This fo…
Deep reinforcement learning for high dimensional, hierarchical control tasks usually requires the use of complex neural networks as functional approximators, which can lead to inefficiency, instability and even divergence in the training process. Here, we introduce stacked deep Q learning (SDQL), a flexible modularized…
Many advanced Learning from Demonstration (LfD) methods consider the decomposition of complex, real-world tasks into simpler sub-tasks. By reusing the corresponding sub-policies within and between tasks, they provide training data for each policy from different high-level tasks and compose them to perform novel ones. E…
Controller seeks informative system observations to predict nonlinear dynamics.