4 papers
Closing the Loop on the Poppy Humanoid: Bipedal Locomotion with Linear-Quadratic Control and Learned Cost Functions
Xulin Chen, Borui He, Ruipeng Liu +3
The Poppy Humanoid is an open-source, low-cost robot suitable for research and education in artificial intelligence. However, we are unaware of any published methodology that achie…
Beyond Coefficients: Forecast-Necessity Testing for Interpretable Causal Discovery in Nonlinear Time-Series Models
Valentina Kuskova, Dmitry Zaytsev, Michael Coppedge
Nonlinear machine-learning models are increasingly used to discover causal relationships in time-series data, yet the interpretation of their outputs remains poorly understood. In…
Lipschitz-Regularized Critics Lead to Policy Robustness Against Transition Dynamics Uncertainty
Xulin Chen, Ruipeng Liu, Zhenyu Gan +1
Uncertainties in transition dynamics pose a critical challenge in reinforcement learning (RL), often resulting in performance degradation of trained policies when deployed on hardw…
On Feasibility of Sample Average Approximation Solutions
Rui Peng Liu
When there are infinitely many scenarios, the current studies of two-stage stochastic programming problems rely on the relatively complete recourse assumption. However, such assump…