6 papers
A Single Diffusion-Policy Controller for Multi-Task Block Pushing with Zero-Shot Sim-to-Real Transfer
Haitong Ma, Haldun Balim, Yang Hu +2
Diffusion policies have shown promising empirical performance in representing and learning complex maneuvers for robots using behavior cloning (BC). In this paper, we explore train…
Joint Identification of Linear Dynamics and Noise Covariance via Distributional Estimation
Yang Hu, Na Li
In this paper, we propose a novel framework for the joint identification of system dynamics and noise covariance in linear systems, under general noise distributions beyond Gaussia…
Max-Entropy Reinforcement Learning with Flow Matching and A Case Study on LQR
Yuyang Zhang, Yang Hu, Bo Dai +1
Soft actor-critic (SAC) is a popular algorithm for max-entropy reinforcement learning. In practice, the energy-based policies in SAC are often approximated using simple policy clas…
A Model-Based Approach to Imitation Learning through Multi-Step Predictions
Haldun Balim, Yang Hu, Yuyang Zhang +1
Imitation learning is a widely used approach for training agents to replicate expert behavior in complex decision-making tasks. However, existing methods often struggle with compou…
Risk-sensitive Affine Control Synthesis for Stationary LTI Systems
Yang Hu, Shahriar Talebi, Na Li
To address deviations from expected performance in stochastic systems, we propose a risk-sensitive control synthesis method to minimize certain risk measures over the limiting stat…
Primal-Dual Spectral Representation for Off-policy Evaluation
Yang Hu, Tianyi Chen, Na Li +2
Off-policy evaluation (OPE) is one of the most fundamental problems in reinforcement learning (RL) to estimate the expected long-term payoff of a given target policy with only expe…