Given a traversal algorithm, cover time is the expected number of steps needed to visit all nodes in a given graph. A smaller cover time means a higher exploration efficiency of traversal algorithm. Although random walk algorithms have been studied extensively in the existing literature, there has been no cover time result for any non-Markovian method. In this work, we stand on a theoretical perspective and show that the negative feedback strategy (a count-based exploration method) is better than the naive random walk search. In particular, the former strategy can locally improve the search efficiency for an arbitrary graph. It also achieves smaller cover times for special but important graphs, including clique graphs, tree graphs, etc. Moreover, we make connections between our results and reinforcement learning literature to give new insights on why classical UCB and MCTS algorithms are so useful. Various numerical results corroborate our theoretical findings.

Integral to recent successes in deep reinforcement learning has been a class of temporal difference methods that use infrequently updated target values for policy evaluation in a Markov Decision Process. Yet a complete theoretical explanation for the effectiveness of target networks remains elusive. In this work, we provide an analysis of this popular class of algorithms, to finally answer the question: `why do target networks stabilise TD learning'? To do so, we formalise the notion of a partially fitted policy evaluation method, which describes the use of target networks and bridges the gap between fitted methods and semigradient temporal difference algorithms. Using this framework we are able to uniquely characterise the so-called deadly triad - the use of TD updates with (nonlinear) function approximation and off-policy data - which often leads to nonconvergent algorithms. This insight leads us to conclude that the use of target networks can mitigate the effects of poor conditioning in the Jacobian of the TD update. Instead, we show that under mild regularity conditions and a well tuned target network update frequency, convergence can be guaranteed even in the extremely challenging off-policy sampling and nonlinear function approximation setting.

By transferring knowledge from large, diverse, task-agnostic datasets, modern machine learning models can solve specific downstream tasks either zero-shot or with small task-specific datasets to a high level of performance. While this capability has been demonstrated in other fields such as computer vision, natural language processing or speech recognition, it remains to be shown in robotics, where the generalization capabilities of the models are particularly critical due to the difficulty of collecting real-world robotic data. We argue that one of the keys to the success of such general robotic models lies with open-ended task-agnostic training, combined with high-capacity architectures that can absorb all of the diverse, robotic data. In this paper, we present a model class, dubbed Robotics Transformer, that exhibits promising scalable model properties. We verify our conclusions in a study of different model classes and their ability to generalize as a function of the data size, model size, and data diversity based on a large-scale data collection on real robots performing real-world tasks. The project's website and videos can be found at robotics-transformer1.github.io

In this paper, we consider a general task of jumping varying distances and heights for a quadrupedal robot in noisy environments, such as off of uneven terrain and with variable robot dynamics parameters. To accurately jump in such conditions, we propose a framework using deep reinforcement learning that leverages and augments the complex solution of nonlinear trajectory optimization for quadrupedal jumping. While the standalone optimization limits jumping to take-off from flat ground and requires accurate assumptions of robot dynamics, our proposed approach improves the robustness to allow jumping off of significantly uneven terrain with variable robot dynamical parameters and environmental conditions. Compared with walking and running, the realization of aggressive jumping on hardware necessitates accounting for the motors' torque-speed relationship as well as the robot's total power limits. By incorporating these constraints into our learning framework, we successfully deploy our policy sim-to-real without further tuning, fully exploiting the available onboard power supply and motors. We demonstrate robustness to environment noise of foot disturbances of up to 6 cm in height, or 33% of the robot's nominal standing height, while jumping 2x the body length in distance.

Algorithmic trading has gained attention due to its potential for generating superior returns. This paper investigates the effectiveness of deep reinforcement learning (DRL) methods in algorithmic commodities trading. It formulates the commodities trading problem as a continuous, discrete-time stochastic dynamical system. The proposed system employs a novel time-discretization scheme that adapts to market volatility, enhancing the statistical properties of subsampled financial time series. To optimize transaction-cost- and risk-sensitive trading agents, two policy gradient algorithms, namely actor-based and actor-critic-based approaches, are introduced. These agents utilize CNNs and LSTMs as parametric function approximators to map historical price observations to market positions.Backtesting on front-month natural gas futures demonstrates that DRL models increase the Sharpe ratio by $83\%$ compared to the buy-and-hold baseline. Additionally, the risk profile of the agents can be customized through a hyperparameter that regulates risk sensitivity in the reward function during the optimization process. The actor-based models outperform the actor-critic-based models, while the CNN-based models show a slight performance advantage over the LSTM-based models.

Multi-agent pathfinding (MAPF) is a critical field in many large-scale robotic applications, often being the fundamental step in multi-agent systems. The increasing complexity of MAPF in complex and crowded environments, however, critically diminishes the effectiveness of existing solutions. In contrast to other studies that have either presented a general overview of the recent advancements in MAPF or extensively reviewed Deep Reinforcement Learning (DRL) within multi-agent system settings independently, our work presented in this review paper focuses on highlighting the integration of DRL-based approaches in MAPF. Moreover, we aim to bridge the current gap in evaluating MAPF solutions by addressing the lack of unified evaluation metrics and providing comprehensive clarification on these metrics. Finally, our paper discusses the potential of model-based DRL as a promising future direction and provides its required foundational understanding to address current challenges in MAPF. Our objective is to assist readers in gaining insight into the current research direction, providing unified metrics for comparing different MAPF algorithms and expanding their knowledge of model-based DRL to address the existing challenges in MAPF.

Reinforcement learning (RL) under changing environment models many real-world applications via nonstationary Markov Decision Processes (MDPs), and hence gains considerable interest. However, theoretical studies on nonstationary MDPs in the literature have mainly focused on tabular and linear (mixture) MDPs, which do not capture the nature of unknown representation in deep RL. In this paper, we make the first effort to investigate nonstationary RL under episodic low-rank MDPs, where both transition kernels and rewards may vary over time, and the low-rank model contains unknown representation in addition to the linear state embedding function. We first propose a parameter-dependent policy optimization algorithm called PORTAL, and further improve PORTAL to its parameter-free version of Ada-PORTAL, which is able to tune its hyper-parameters adaptively without any prior knowledge of nonstationarity. For both algorithms, we provide upper bounds on the average dynamic suboptimality gap, which show that as long as the nonstationarity is not significantly large, PORTAL and Ada-PORTAL are sample-efficient and can achieve arbitrarily small average dynamic suboptimality gap with polynomial sample complexity.

Reinforcement learning (RL) is a promising approach for optimizing HVAC control. RL offers a framework for improving system performance, reducing energy consumption, and enhancing cost efficiency. We benchmark two popular classical and deep RL methods (Q-Learning and Deep-Q-Networks) across multiple HVAC environments and explore the practical consideration of model hyper-parameter selection and reward tuning. The findings provide insight for configuring RL agents in HVAC systems, promoting energy-efficient and cost-effective operation.

The Reinforcement Learning from Human Feedback (RLHF) plays a pivotal role in shaping the impact of large language models (LLMs), contributing significantly to controlling output toxicity and selecting output styles, particularly as LLMs often harbor misleading content, highlighting the urgency to align them with human values for secure AI systems. The RLHF, characterized by complexity, instability, and sensitivity to hyperparameters, makes the evaluation of the reward model for complex tasks challenging, thereby further complicating the use of Proximal Policy Optimization (PPO). In this paper, we introduce a simple task designed to employ Gloden as a reward model that validates the effectiveness of PPO and inspires it, primarily explaining the task of utilizing PPO to manipulate the tokenizer length of the output generated by the model. Experiments confirm that PPO is not only effective in manipulating the output tokenizer length to a certain extent in this type of task but also exhibits facilitated training once the influence of the reward model effect is excluded, making it an exciting development.

Autonomous underwater vehicles (AUVs) play a crucial role in surveying marine environments, carrying out underwater inspection tasks, and ocean exploration. However, in order to ensure that the AUV is able to carry out its mission successfully, a control system capable of adapting to changing environmental conditions is required. Furthermore, to ensure the robotic platform's safe operation, the onboard controller should be able to operate under certain constraints. In this work, we investigate the feasibility of Model Predictive Path Integral Control (MPPI) for the control of an AUV. We utilise a non-linear model of the AUV to propagate the samples of the MPPI, which allow us to compute the control action in real time. We provide a detailed evaluation of the effect of the main hyperparameters on the performance of the MPPI controller. Furthermore, we compared the performance of the proposed method with a classical PID and Cascade PID approach, demonstrating the superiority of our proposed controller. Finally, we present results where environmental constraints are added and show how MPPI can handle them by simply incorporating those constraints in the cost function.