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cs.LG2026
Learning Quadruped Walking from Seconds of Demonstration
Ruipeng Zhang, Hongzhan Yu, Ya-Chien Chang +3
Quadruped locomotion provides a natural setting for understanding when model-free learning can outperform model-based control design, by exploiting data patterns to bypass the diff…
cs.LG2025
When Maximum Entropy Misleads Policy Optimization
Ruipeng Zhang, Ya-Chien Chang, Sicun Gao
The Maximum Entropy Reinforcement Learning (MaxEnt RL) framework is a leading approach for achieving efficient learning and robust performance across many RL tasks. However, MaxEnt…
cs.LG2025
Improving Value Estimation Critically Enhances Vanilla Policy Gradient
Tao Wang, Ruipeng Zhang, Sicun Gao
Modern policy gradient algorithms, such as TRPO and PPO, outperform vanilla policy gradient in many RL tasks. Questioning the common belief that enforcing approximate trust regions…