4 papers
Mind Your Steps: A General Learning Framework for Accurate Humanoid Foothold Tracking
Alessandro Montenegro, Shihao Li, Puze Liu +2
Enabling humanoid robots to operate in complex, dynamic environments remains a critical challenge, fundamentally limited by the ability to navigate robustly, safely, and accurately…
Reusing Trajectories in Policy Gradients Enables Fast Convergence
Alessandro Montenegro, Federico Mansutti, Marco Mussi +2
Policy gradient (PG) methods are a class of effective reinforcement learning algorithms, particularly when dealing with continuous control problems. They rely on fresh on-policy da…
Learning Deterministic Policies with Policy Gradients in Constrained Markov Decision Processes
Alessandro Montenegro, Leonardo Cesani, Marco Mussi +2
Constrained Reinforcement Learning (CRL) addresses sequential decision-making problems where agents are required to achieve goals by maximizing the expected return while meeting do…
Last-Iterate Global Convergence of Policy Gradients for Constrained Reinforcement Learning
Alessandro Montenegro, Marco Mussi, Matteo Papini +1
Constrained Reinforcement Learning (CRL) tackles sequential decision-making problems where agents are required to achieve goals by maximizing the expected return while meeting doma…