Tootfinder

CoIRL-AD: Collaborative-Competitive Imitation-Reinforcement Learning in Latent World Models for Autonomous Driving
Xiaoji Zheng, Ziyuan Yang, Yanhao Chen, Yuhang Peng, Yuanrong Tang, Gengyuan Liu, Bokui Chen, Jiangtao Gong
https://arxiv.org/abs/2510.12560

CoIRL-AD: Collaborative-Competitive Imitation-Reinforcement Learning in Latent World Models for Autonomous Driving
End-to-end autonomous driving models trained solely with imitation learning (IL) often suffer from poor generalization. In contrast, reinforcement learning (RL) promotes exploration through reward maximization but faces challenges such as sample inefficiency and unstable convergence. A natural solution is to combine IL and RL. Moving beyond the conventional two-stage paradigm (IL pretraining followed by RL fine-tuning), we propose CoIRL-AD, a competitive dual-policy framework that enables IL an…

GAR: Generative Adversarial Reinforcement Learning for Formal Theorem Proving
Ruida Wang, Jiarui Yao, Rui Pan, Shizhe Diao, Tong Zhang
https://arxiv.org/abs/2510.11769 https://

GAR: Generative Adversarial Reinforcement Learning for Formal Theorem Proving
Solving math problems through verifiable languages such as Lean has significantly impacted both the mathematics and computer science communities. Current state-of-the-art models are often trained with expensive online Reinforcement Learning (RL) or expert iteration. However, these approaches rely on fixed problem sets, which causes inefficient training and limits the model to tackle complex problems. To overcome these limitations, we propose GAR: Generative Adversarial Reinforcement learning, a…

Pretraining in Actor-Critic Reinforcement Learning for Robot Motion Control
Jiale Fan, Andrei Cramariuc, Tifanny Portela, Marco Hutter
https://arxiv.org/abs/2510.12363 https://

Pretraining in Actor-Critic Reinforcement Learning for Robot Motion Control
The pretraining-finetuning paradigm has facilitated numerous transformative advancements in artificial intelligence research in recent years. However, in the domain of reinforcement learning (RL) for robot motion control, individual skills are often learned from scratch despite the high likelihood that some generalizable knowledge is shared across all task-specific policies belonging to a single robot embodiment. This work aims to define a paradigm for pretraining neural network models that enc…

Physics-Informed Reinforcement Learning for Large-Scale EV Smart Charging Considering Distribution Network Voltage Constraints
Stavros Orfanoudakis, Frans Oliehoek, Peter Palesnky, Pedro P. Vergara
https://arxiv.org/abs/2510.12335

Physics-Informed Reinforcement Learning for Large-Scale EV Smart Charging Considering Distribution Network Voltage Constraints
Electric Vehicles (EVs) offer substantial flexibility for grid services, yet large-scale, uncoordinated charging can threaten voltage stability in distribution networks. Existing Reinforcement Learning (RL) approaches for smart charging often disregard physical grid constraints or have limited performance for complex large-scale tasks, limiting their scalability and real-world applicability. This paper introduces a physics-informed (PI) RL algorithm that integrates a differentiable power flow m…

Expert or not? assessing data quality in offline reinforcement learning
Arip Asadulaev, Fakhri Karray, Martin Takac
https://arxiv.org/abs/2510.12638 https://

Expert or not? assessing data quality in offline reinforcement learning
Offline reinforcement learning (RL) learns exclusively from static datasets, without further interaction with the environment. In practice, such datasets vary widely in quality, often mixing expert, suboptimal, and even random trajectories. The choice of algorithm therefore depends on dataset fidelity. Behavior cloning can suffice on high-quality data, whereas mixed- or low-quality data typically benefits from offline RL methods that stitch useful behavior across trajectories. Yet in the wild i…

Residual MPC: Blending Reinforcement Learning with GPU-Parallelized Model Predictive Control
Se Hwan Jeon, Ho Jae Lee, Seungwoo Hong, Sangbae Kim
https://arxiv.org/abs/2510.12717

Residual MPC: Blending Reinforcement Learning with GPU-Parallelized Model Predictive Control
Model Predictive Control (MPC) provides interpretable, tunable locomotion controllers grounded in physical models, but its robustness depends on frequent replanning and is limited by model mismatch and real-time computational constraints. Reinforcement Learning (RL), by contrast, can produce highly robust behaviors through stochastic training but often lacks interpretability, suffers from out-of-distribution failures, and requires intensive reward engineering. This work presents a GPU-paralleli…

Laminar: A Scalable Asynchronous RL Post-Training Framework
Guangming Sheng, Yuxuan Tong, Borui Wan, Wang Zhang, Chaobo Jia, Xibin Wu, Yuqi Wu, Xiang Li, Chi Zhang, Yanghua Peng, Haibin Lin, Xin Liu, Chuan Wu
https://arxiv.org/abs/2510.12633

Laminar: A Scalable Asynchronous RL Post-Training Framework
Reinforcement learning (RL) post-training for Large Language Models (LLMs) is now scaling to large clusters and running for extended durations to enhance model reasoning performance. However, the scalability of existing RL frameworks is limited, as extreme long-tail skewness in RL trajectory generation causes severe GPU underutilization. Current asynchronous RL systems attempt to mitigate this, but they rely on global weight synchronization between the actor and all rollouts, which creates a ri…

Replaced article(s) found for cs.CL. https://arxiv.org/list/cs.CL/new
[2/5]:
- DoctorAgent-RL: A Multi-Agent Collaborative Reinforcement Learning System for Multi-Turn Clinical...
Yichun Feng, Jiawei Wang, Lu Zhou, Zhen Lei, Yixue Li

A Task-Efficient Reinforcement Learning Task-Motion Planner for Safe Human-Robot Cooperation
Gaoyuan Liu, Joris de Winter, Kelly Merckaert, Denis Steckelmacher, Ann Nowe, Bram Vanderborght
https://arxiv.org/abs/2510.12477

A Task-Efficient Reinforcement Learning Task-Motion Planner for Safe Human-Robot Cooperation
In a Human-Robot Cooperation (HRC) environment, safety and efficiency are the two core properties to evaluate robot performance. However, safety mechanisms usually hinder task efficiency since human intervention will cause backup motions and goal failures of the robot. Frequent motion replanning will increase the computational load and the chance of failure. In this paper, we present a hybrid Reinforcement Learning (RL) planning framework which is comprised of an interactive motion planner and …

Prefrontal scaling of reward prediction error readout gates reinforcement-derived adaptive behavior in primates
Tian Sang, Yichun Huang, Fangwei Zhong, Miao Wang, Shiqi Yu, Jiahui Li, Yuanjing Feng, Yizhou Wang, Kwok Sze Chai, Ravi S. Menon, Meiyun Wang, Fang Fang, Zheng Wang
https://arxiv.org/abs/2512.09761 https://arxiv.org/pdf/2512.09761 https://arxiv.org/html/2512.09761
arXiv:2512.09761v1 Announce Type: new
Abstract: Reinforcement learning (RL) enables adaptive behavior across species via reward prediction errors (RPEs), but the neural origins of species-specific adaptability remain unknown. Integrating RL modeling, transcriptomics, and neuroimaging during reversal learning, we discovered convergent RPE signatures - shared monoaminergic/synaptic gene upregulation and neuroanatomical representations, yet humans outperformed macaques behaviorally. Single-trial decoding showed RPEs guided choices similarly in both species, but humans disproportionately recruited dorsal anterior cingulate (dACC) and dorsolateral prefrontal cortex (dlPFC). Cross-species alignment uncovered that macaque prefrontal circuits encode human-like optimal RPEs yet fail to translate them into action. Adaptability scaled not with RPE encoding fidelity, but with the areal extent of dACC/dlPFC recruitment governing RPE-to-action transformation. These findings resolve an evolutionary puzzle: behavioral performance gaps arise from executive cortical readout efficiency, not encoding capacity.
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Reflection-Based Task Adaptation for Self-Improving VLA
Baicheng Li, Dong Wu, Zike Yan, Xinchen Liu, Zecui Zeng, Lusong Li, Hongbin Zha
https://arxiv.org/abs/2510.12710 https://…

Reflection-Based Task Adaptation for Self-Improving VLA
Pre-trained Vision-Language-Action (VLA) models represent a major leap towards general-purpose robots, yet efficiently adapting them to novel, specific tasks in-situ remains a significant hurdle. While reinforcement learning (RL) is a promising avenue for such adaptation, the process often suffers from low efficiency, hindering rapid task mastery. We introduce Reflective Self-Adaptation, a framework for rapid, autonomous task adaptation without human intervention. Our framework establishes a se…