Tootfinder

Policy-Based Trajectory Clustering in Offline Reinforcement Learning
Hao Hu, Xinqi Wang, Simon Shaolei Du
https://arxiv.org/abs/2506.09202 https://

Policy-Based Trajectory Clustering in Offline Reinforcement Learning
We introduce a novel task of clustering trajectories from offline reinforcement learning (RL) datasets, where each cluster center represents the policy that generated its trajectories. By leveraging the connection between the KL-divergence of offline trajectory distributions and a mixture of policy-induced distributions, we formulate a natural clustering objective. To solve this, we propose Policy-Guided K-means (PG-Kmeans) and Centroid-Attracted Autoencoder (CAAE). PG-Kmeans iteratively trains…

Multi-critic Learning for Whole-body End-effector Twist Tracking
Aravind Elanjimattathil Vijayan, Andrei Cramariuc, Mattia Risiglione, Christian Gehring, Marco Hutter
https://arxiv.org/abs/2507.08656

Multi-critic Learning for Whole-body End-effector Twist Tracking
Learning whole-body control for locomotion and arm motions in a single policy has challenges, as the two tasks have conflicting goals. For instance, efficient locomotion typically favors a horizontal base orientation, while end-effector tracking may benefit from base tilting to extend reachability. Additionally, current Reinforcement Learning (RL) approaches using a pose-based task specification lack the ability to directly control the end-effector velocity, making smoothly executing trajectori…

Planned Parenthood sued the Trump administration on Monday over a provision in Trump’s sweeping domestic policy bill that would strip funding from health centers operated by the reproductive healthcare and abortion provider.
In a complaint filed in Boston federal court, Planned Parenthood said the provision was unconstitutional,
and its clear purpose is to prevent its nearly 600 health centers from receiving Medicaid reimbursements.

How to craft a deep reinforcement learning policy for wind farm flow control
Elie Kadoche, Pascal Bianchi, Florence Carton, Philippe Ciblat, Damien Ernst
https://arxiv.org/abs/2506.06204

How to craft a deep reinforcement learning policy for wind farm flow control
Within wind farms, wake effects between turbines can significantly reduce overall energy production. Wind farm flow control encompasses methods designed to mitigate these effects through coordinated turbine control. Wake steering, for example, consists in intentionally misaligning certain turbines with the wind to optimize airflow and increase power output. However, designing a robust wake steering controller remains challenging, and existing machine learning approaches are limited to quasi-sta…

Et ça continue https://www.lemonde.fr/international/article/2025/05/31/a-rome-des-milliers-de-personnes-manifestent-contre-la-loi-sur-…

A Rome, des milliers de personnes manifestent contre la loi sur la sécurité du gouvernement ultraconservateur de Giorgia Meloni
Ce décret-loi, adopté début avril par le gouvernement et voté jeudi par la Chambre des députés, protège notamment les forces de l’ordre en cas d’accusations de violences policières, et renforce les peines pour certains délits.

A Reinforcement Learning Framework for Some Singular Stochastic Control Problems
Zongxia Liang, Xiaodong Luo, Xiang Yu
https://arxiv.org/abs/2506.22203 htt…

A Reinforcement Learning Framework for Some Singular Stochastic Control Problems
We develop a continuous-time reinforcement learning framework for a class of singular stochastic control problems without entropy regularization. The optimal singular control is characterized as the optimal singular control law, which is a pair of regions of time and the augmented states. The goal of learning is to identify such an optimal region via the trial-and-error procedure. In this context, we generalize the existing policy evaluation theories with regular controls to learn our optimal s…

Self driving algorithm for an active four wheel drive racecar
Gergely Bari, Laszlo Palkovics
https://arxiv.org/abs/2506.06077 https://

Self driving algorithm for an active four wheel drive racecar
Controlling autonomous vehicles at their handling limits is a significant challenge, particularly for electric vehicles with active four wheel drive (A4WD) systems offering independent wheel torque control. While traditional Vehicle Dynamics Control (VDC) methods use complex physics-based models, this study explores Deep Reinforcement Learning (DRL) to develop a unified, high-performance controller. We employ the Proximal Policy Optimization (PPO) algorithm to train an agent for optimal lap tim…

Reusing Trajectories in Policy Gradients Enables Fast Convergence
Alessandro Montenegro, Federico Mansutti, Marco Mussi, Matteo Papini, Alberto Maria Metelli
https://arxiv.org/abs/2506.06178

Reusing Trajectories in Policy Gradients Enables Fast Convergence
Policy gradient (PG) methods are a class of effective reinforcement learning algorithms, particularly when dealing with continuous control problems. These methods learn the parameters of parametric policies via stochastic gradient ascent, typically using on-policy trajectory data to estimate the policy gradient. However, such reliance on fresh data makes them sample-inefficient. Indeed, vanilla PG methods require $O(ε^{-2})$ trajectories to reach an $ε$-approximate stationary point. A common …

Multi-Timescale Hierarchical Reinforcement Learning for Unified Behavior and Control of Autonomous Driving
Guizhe Jin, Zhuoren Li, Bo Leng, Ran Yu, Lu Xiong
https://arxiv.org/abs/2506.23771

Multi-Timescale Hierarchical Reinforcement Learning for Unified Behavior and Control of Autonomous Driving
Reinforcement Learning (RL) is increasingly used in autonomous driving (AD) and shows clear advantages. However, most RL-based AD methods overlook policy structure design. An RL policy that only outputs short-timescale vehicle control commands results in fluctuating driving behavior due to fluctuations in network outputs, while one that only outputs long-timescale driving goals cannot achieve unified optimality of driving behavior and control. Therefore, we propose a multi-timescale hierarchica…

Eye, Robot: Learning to Look to Act with a BC-RL Perception-Action Loop
Justin Kerr, Kush Hari, Ethan Weber, Chung Min Kim, Brent Yi, Tyler Bonnen, Ken Goldberg, Angjoo Kanazawa
https://arxiv.org/abs/2506.10968

Eye, Robot: Learning to Look to Act with a BC-RL Perception-Action Loop
Humans do not passively observe the visual world -- we actively look in order to act. Motivated by this principle, we introduce EyeRobot, a robotic system with gaze behavior that emerges from the need to complete real-world tasks. We develop a mechanical eyeball that can freely rotate to observe its surroundings and train a gaze policy to control it using reinforcement learning. We accomplish this by first collecting teleoperated demonstrations paired with a 360 camera. This data is imported in…