6 citations · 24 across the 19 of their papers we have counts for
4 papers · 1 filter
Gradient Shaping for Multi-Constraint Safe Reinforcement Learning
Yihang Yao, Zuxin Liu, Zhepeng Cen +4
Online safe reinforcement learning (RL) involves training a policy that maximizes task efficiency while satisfying constraints via interacting with the environments. In this paper,…
Creative Robot Tool Use with Large Language Models
Mengdi Xu, Peide Huang, Wenhao Yu +7
Tool use is a hallmark of advanced intelligence, exemplified in both animal behavior and robotic capabilities. This paper investigates the feasibility of imbuing robots with the ab…
Constraint-Conditioned Policy Optimization for Versatile Safe Reinforcement Learning
Yihang Yao, Zuxin Liu, Zhepeng Cen +4
Safe reinforcement learning (RL) focuses on training reward-maximizing agents subject to pre-defined safety constraints. Yet, learning versatile safe policies that can adapt to var…
A Unified Perspective on Multiple Shooting In Differential Dynamic Programming
He Li, Wenhao Yu, Tingnan Zhang +1
Differential Dynamic Programming (DDP) is an efficient computational tool for solving nonlinear optimal control problems. It was originally designed as a single shooting method and…