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94 papers

High-Dimensional Continuous Control Using Generalized Advantage Estimation

John Schulman, Philipp Moritz, Sergey Levine, Michael Jordan, Pieter Abbeel

1506.02438

Interactive Differentiable Simulation

Eric Heiden, David Millard, Hejia Zhang, Gaurav S. Sukhatme

1905.10706

Orthonormal Expansion l1-Minimization Algorithms for Compressed Sensing

Zai Yang, Cishen Zhang, Jun Deng, Wenmiao Lu

1108.5037

On Stochastic Gradient and Subgradient Methods with Adaptive Steplength Sequences

Farzad Yousefian, Angelia Nedić, Uday V. Shanbhag

1105.4549

Breaking the Curse of Horizon: Infinite-Horizon Off-Policy Estimation

Qiang Liu, Lihong Li, Ziyang Tang, Dengyong Zhou

1810.12429

Deep Lagrangian Networks: Using Physics as Model Prior for Deep Learning

Michael Lutter, Christian Ritter, Jan Peters

1907.04490

The KL-UCB Algorithm for Bounded Stochastic Bandits and Beyond

Aurélien Garivier, Olivier Cappé

1102.2490

Deterministic Sequencing of Exploration and Exploitation for Multi-Armed Bandit Problems

Sattar Vakili, Keqin Liu, Qing Zhao

1106.6104

Gaussian Processes for Data-Efficient Learning in Robotics and Control

Marc Peter Deisenroth, Dieter Fox, Carl Edward Rasmussen

1502.02860

Incremental Gradient, Subgradient, and Proximal Methods for Convex Optimization: A Survey

Dimitri P. Bertsekas

1507.01030

X-Armed Bandits

Sébastien Bubeck, Rémi Munos, Gilles Stoltz, Csaba Szepesvari

1001.4475

Deep Variational Bayes Filters: Unsupervised Learning of State Space Models from Raw Data

Maximilian Karl, Maximilian Soelch, Justin Bayer, Patrick van der Smagt

1605.06432

Funnel Libraries for Real-Time Robust Feedback Motion Planning

Anirudha Majumdar, Russ Tedrake

1601.04037

Preparing for the Unknown: Learning a Universal Policy with Online System Identification

Wenhao Yu, Jie Tan, C. Karen Liu, Greg Turk

1702.02453

Optimal Algorithms for Distributed Optimization

César A. Uribe, Soomin Lee, Alexander Gasnikov, Angelia Nedić

1712.00232

Decentralized Learning for Multi-player Multi-armed Bandits

Dileep Kalathil, Naumaan Nayyar, Rahul Jain

1206.3582

Continuous Deep Q-Learning with Model-based Acceleration

Shixiang Gu, Timothy Lillicrap, Ilya Sutskever, Sergey Levine

1603.00748

Fully Decentralized Policies for Multi-Agent Systems: An Information Theoretic Approach

Roel Dobbe, David Fridovich-Keil, Claire Tomlin

1707.06334

From Pixels to Torques: Policy Learning with Deep Dynamical Models

Niklas Wahlström, Thomas B. Schön, Marc Peter Deisenroth

1502.02251

Dual Averaging for Distributed Optimization: Convergence Analysis and Network Scaling

John Duchi, Alekh Agarwal, Martin Wainwright

1005.2012

Decentralized RLS with Data-Adaptive Censoring for Regressions over Large-Scale Networks

Zifeng Wang, Zheng Yu, Qing Ling, Dimitris Berberidis, Georgios B. Giannakis

1612.08263

Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation

Zipeng Fu, Tony Z. Zhao, Chelsea Finn

2401.02117

Analysis and Design of Optimization Algorithms via Integral Quadratic Constraints

Laurent Lessard, Benjamin Recht, Andrew Packard

1408.3595

Symplectic ODE-Net: Learning Hamiltonian Dynamics with Control

Yaofeng Desmond Zhong, Biswadip Dey, Amit Chakraborty

1909.12077

On Distributed Cooperative Decision-Making in Multiarmed Bandits

Peter Landgren, Vaibhav Srivastava, Naomi Ehrich Leonard

1512.06888

Vision-driven Compliant Manipulation for Reliable, High-Precision Assembly Tasks

Andrew S. Morgan, Bowen Wen, Junchi Liang, Abdeslam Boularias, Aaron M. Dollar, Kostas Bekris

2106.14070

A0C: Alpha Zero in Continuous Action Space

Thomas M. Moerland, Joost Broekens, Aske Plaat, Catholijn M. Jonker

1805.09613

Path Integral Networks: End-to-End Differentiable Optimal Control

Masashi Okada, Luca Rigazio, Takenobu Aoshima

1706.09597

Communication Compression for Decentralized Training

Hanlin Tang, Shaoduo Gan, Ce Zhang, Tong Zhang, Ji Liu

1803.06443

The Augmented Lagrange Multiplier Method for Exact Recovery of Corrupted Low-Rank Matrices

Zhouchen Lin, Minming Chen, Yi Ma

1009.5055

An Asynchronous Mini-Batch Algorithm for Regularized Stochastic Optimization

Hamid Reza Feyzmahdavian, Arda Aytekin, Mikael Johansson

1505.04824

On the Sample Complexity of Stability Constrained Imitation Learning

Stephen Tu, Alexander Robey, Tingnan Zhang, Nikolai Matni

2102.09161

Fast and Feature-Complete Differentiable Physics for Articulated Rigid Bodies with Contact

Keenon Werling, Dalton Omens, Jeongseok Lee, Ioannis Exarchos, C. Karen Liu

2103.16021

Doubly Robust Off-policy Value Evaluation for Reinforcement Learning

Nan Jiang, Lihong Li

1511.03722

Data-Efficient Reinforcement Learning with Probabilistic Model Predictive Control

Sanket Kamthe, Marc Peter Deisenroth

1706.06491

Distributed Nonconvex Multiagent Optimization Over Time-Varying Networks

Ying Sun, Gesualdo Scutari, Daniel Palomar

1607.00249

Robust Spectral Compressed Sensing via Structured Matrix Completion

Yuxin Chen, Yuejie Chi

1304.8126

A Proximal Dual Consensus ADMM Method for Multi-Agent Constrained Optimization

Tsung-Hui Chang

1409.3307

Baidu Apollo EM Motion Planner

Haoyang Fan, Fan Zhu, Changchun Liu, Liangliang Zhang, Li Zhuang, Dong Li, Weicheng Zhu, Jiangtao Hu, Hongye Li, Qi Kong

1807.08048

Information-Theoretic Bounded Rationality

Pedro A. Ortega, Daniel A. Braun, Justin Dyer, Kee-Eung Kim, Naftali Tishby

1512.06789

Distributed optimization over time-varying directed graphs

Angelia Nedic, Alex Olshevsky

1303.2289

Robust Filtering and Smoothing with Gaussian Processes

Marc Peter Deisenroth, Ryan Turner, Marco F. Huber, Uwe D. Hanebeck, Carl Edward Rasmussen

1203.4345

Reshaping Robot Trajectories Using Natural Language Commands: A Study of Multi-Modal Data Alignment Using Transformers

Arthur Bucker, Luis Figueredo, Sami Haddadin, Ashish Kapoor, Shuang Ma, Rogerio Bonatti

2203.13411

Sim-to-Real Transfer of Robotic Control with Dynamics Randomization

Xue Bin Peng, Marcin Andrychowicz, Wojciech Zaremba, Pieter Abbeel

1710.06537

Transfer from Simulation to Real World through Learning Deep Inverse Dynamics Model

Paul Christiano, Zain Shah, Igor Mordatch, Jonas Schneider, Trevor Blackwell, Joshua Tobin, Pieter Abbeel, Wojciech Zaremba

1610.03518

Decentralized learning for wireless communications and networking

Georgios B. Giannakis, Qing Ling, Gonzalo Mateos, Ioannis D. Schizas, Hao Zhu

1503.08855

Generalization in Dexterous Manipulation via Geometry-Aware Multi-Task Learning

Wenlong Huang, Igor Mordatch, Pieter Abbeel, Deepak Pathak

2111.03062

Convex Relaxation of Optimal Power Flow, Part I: Formulations and Equivalence

Steven H. Low

1405.0766

Imitation Learning with Stability and Safety Guarantees

He Yin, Peter Seiler, Ming Jin, Murat Arcak

2012.09293

On the Randomized Kaczmarz Algorithm

Liang Dai, Mojtaba Soltanalian, Kristiaan Pelckmans

1402.2863

Decentralized Stochastic Control with Partial History Sharing: A Common Information Approach

Ashutosh Nayyar, Aditya Mahajan, Demosthenis Teneketzis

1209.1695

Legged Locomotion in Challenging Terrains using Egocentric Vision

Ananye Agarwal, Ashish Kumar, Jitendra Malik, Deepak Pathak

2211.07638

Neural Lyapunov Control

Ya-Chien Chang, Nima Roohi, Sicun Gao

2005.00611

Design of Strict Control-Lyapunov Functions for Quantum Systems with QND Measurements

Hadis Amini, Pierre Rouchon, Mazyar Mirrahimi

1103.1365

How Should a Robot Assess Risk? Towards an Axiomatic Theory of Risk in Robotics

Anirudha Majumdar, Marco Pavone

1710.11040

Learning to Slide Unknown Objects with Differentiable Physics Simulations

Changkyu Song, Abdeslam Boularias

2005.05456

Learning Monocular Reactive UAV Control in Cluttered Natural Environments

Stephane Ross, Narek Melik-Barkhudarov, Kumar Shaurya Shankar, Andreas Wendel, Debadeepta Dey, J. Andrew Bagnell, Martial Hebert

1211.1690

Augmenting Differentiable Simulators with Neural Networks to Close the Sim2Real Gap

Eric Heiden, David Millard, Erwin Coumans, Gaurav S. Sukhatme

2007.06045

Learning Stability Certificates from Data

Nicholas M. Boffi, Stephen Tu, Nikolai Matni, Jean-Jacques E. Slotine, Vikas Sindhwani

2008.05952

SE3-Pose-Nets: Structured Deep Dynamics Models for Visuomotor Planning and Control

Arunkumar Byravan, Felix Leeb, Franziska Meier, Dieter Fox

1710.00489

A Robust Accelerated Optimization Algorithm for Strongly Convex Functions

Saman Cyrus, Bin Hu, Bryan Van Scoy, Laurent Lessard

1710.04753

Distributed Constrained Optimization by Consensus-Based Primal-Dual Perturbation Method

Tsung-Hui Chang, Angelia Nedić, Anna Scaglione

1304.5590

Revisiting Randomized Gossip Algorithms: General Framework, Convergence Rates and Novel Block and Accelerated Protocols

Nicolas Loizou, Peter Richtárik

1905.08645

Multi-Agent Distributed Optimization via Inexact Consensus ADMM

Tsung-Hui Chang, Mingyi Hong, Xiangfeng Wang

1402.6065

A Data-Efficient Approach to Precise and Controlled Pushing

Maria Bauza, Francois R. Hogan, Alberto Rodriguez

1807.09904

Learning Quadrupedal Locomotion over Challenging Terrain

Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, Marco Hutter

2010.11251

Tactile Regrasp: Grasp Adjustments via Simulated Tactile Transformations

Francois R. Hogan, Maria Bauza, Oleguer Canal, Elliott Donlon, Alberto Rodriguez

1803.01940

Guided Uncertainty-Aware Policy Optimization: Combining Learning and Model-Based Strategies for Sample-Efficient Policy Learning

Michelle A. Lee, Carlos Florensa, Jonathan Tremblay, Nathan Ratliff, Animesh Garg, Fabio Ramos, Dieter Fox

2005.10872

Stochastic Gradient-Push for Strongly Convex Functions on Time-Varying Directed Graphs

Angelia Nedic, Alex Olshevsky

1406.2075

Convergence of Learning Dynamics in Stackelberg Games

Tanner Fiez, Benjamin Chasnov, Lillian J. Ratliff

1906.01217

PlayFusion: Skill Acquisition via Diffusion from Language-Annotated Play

Lili Chen, Shikhar Bahl, Deepak Pathak

2312.04549

VideoDex: Learning Dexterity from Internet Videos

Kenneth Shaw, Shikhar Bahl, Deepak Pathak

2212.04498

SiMBA: Simplified Mamba-Based Architecture for Vision and Multivariate Time series

Badri N. Patro, Vijay S. Agneeswaran

2403.15360

Learning to Grasp Without Seeing

Adithyavairavan Murali, Yin Li, Dhiraj Gandhi, Abhinav Gupta

1805.04201

The Lyapunov Neural Network: Adaptive Stability Certification for Safe Learning of Dynamical Systems

Spencer M. Richards, Felix Berkenkamp, Andreas Krause

1808.00924

Convex Relaxation of Optimal Power Flow, Part II: Exactness

Steven H. Low

1405.0814

Euclideanizing Flows: Diffeomorphic Reduction for Learning Stable Dynamical Systems

Muhammad Asif Rana, Anqi Li, Dieter Fox, Byron Boots, Fabio Ramos, Nathan Ratliff

2005.13143

ViKiNG: Vision-Based Kilometer-Scale Navigation with Geographic Hints

Dhruv Shah, Sergey Levine

2202.11271

Human-to-Robot Imitation in the Wild

Shikhar Bahl, Abhinav Gupta, Deepak Pathak

2207.09450

A Metric Between Probability Distributions on Finite Sets of Different Cardinalities and Applications to Order Reduction

Mathukumalli Vidyasagar

1104.4521

On Stochastic Subgradient Mirror-Descent Algorithm with Weighted Averaging

Angelia Nedich, Soomin Lee

1307.1879

Models of human preference for learning reward functions

W. Bradley Knox, Stephane Hatgis-Kessell, Serena Booth, Scott Niekum, Peter Stone, Alessandro Allievi

2206.02231

Information-based complexity, feedback and dynamics in convex programming

Maxim Raginsky, Alexander Rakhlin

1010.2285

Bayesian Inference and Learning in Gaussian Process State-Space Models with Particle MCMC

Roger Frigola, Fredrik Lindsten, Thomas B. Schön, Carl E. Rasmussen

1306.2861

Learning-based Model Predictive Control for Safe Exploration

Torsten Koller, Felix Berkenkamp, Matteo Turchetta, Andreas Krause

1803.08287

Real-Time Power Balancing via Decentralized Coordinated Home Energy Scheduling

Tsung-Hui Chang, Mahnoosh Alizadeh, Anna Scaglione

1302.3932

INTERACTION Dataset: An INTERnational, Adversarial and Cooperative moTION Dataset in Interactive Driving Scenarios with Semantic Maps

Wei Zhan, Liting Sun, Di Wang, Haojie Shi, Aubrey Clausse, Maximilian Naumann, Julius Kummerle, Hendrik Konigshof, Christoph Stiller, Arnaud de La Fortelle, Masayoshi Tomizuka

1910.03088

Information-theoretic lower bounds on the oracle complexity of stochastic convex optimization

Alekh Agarwal, Peter L. Bartlett, Pradeep Ravikumar, Martin J. Wainwright

1009.0571

Accelerated Gossip via Stochastic Heavy Ball Method

Nicolas Loizou, Peter Richtárik

1809.08657

A Survey of Algorithms for Black-Box Safety Validation of Cyber-Physical Systems

Anthony Corso, Robert J. Moss, Mark Koren, Ritchie Lee, Mykel J. Kochenderfer

2005.02979

Gradient Descent-Ascent Provably Converges to Strict Local Minmax Equilibria with a Finite Timescale Separation

Tanner Fiez, Lillian Ratliff

2009.14820

ORFit: One-Pass Learning via Bridging Orthogonal Gradient Descent and Recursive Least-Squares

Youngjae Min, Namhoon Cho, Navid Azizan

2207.13853

Online Robust Subspace Tracking from Partial Information

Jun He, Laura Balzano, John C. S. Lui

1109.3827

Online Identification and Tracking of Subspaces from Highly Incomplete Information

Laura Balzano, Robert Nowak, Benjamin Recht

1006.4046