Learning complex policies with Reinforcement Learning (RL) is often hindered by instability and slow convergence, a problem exacerbated by the difficulty of reward engineering. Imitation Learning (IL) from expert demonstrations bypasses this reliance on rewards. However, state-of-the-art IL methods, exemplified by Generative Adversarial Imitation Learning (GAIL)Ho et. al, suffer from severe sample inefficiency. This is a direct consequence of their foundational on-policy algorithms, such as TRPO Schulman et.al. In this work, we introduce an adversarial imitation learning algorithm that incorporates off-policy learning to improve sample efficiency. By combining an off-policy framework with auxiliary techniques specifically, double Q network based stabilization and value learning without reward function inference we demonstrate a reduction in the samples required to robustly match expert behavior.

Reinforcement learning (RL) has shown promise in robotics, but deploying RL on real vehicles remains challenging due to the complexity of vehicle dynamics and the mismatch between simulation and reality. Factors such as tire characteristics, road surface conditions, aerodynamic disturbances, and vehicle load make it infeasible to model real-world dynamics accurately, which hinders direct transfer of RL agents trained in simulation. In this paper, we present a framework that decouples motion planning from vehicle control through a spatial and temporal alignment strategy between a virtual vehicle and the real system. An RL agent is first trained in simulation using a kinematic bicycle model to output continuous control actions. Its behavior is then distilled into a trajectory-predicting agent that generates finite-horizon ego-vehicle trajectories, enabling synchronization between virtual and real vehicles. At deployment, a Stanley controller governs lateral dynamics, while longitudinal alignment is maintained through adaptive update mechanisms that compensate for deviations between virtual and real trajectories. We validate our approach on a real vehicle and demonstrate that the proposed alignment strategy enables robust zero-shot transfer of RL-based motion planning from simulation to reality, successfully decoupling high-level trajectory generation from low-level vehicle control.

This dissertation explores the application of multi-agent reinforcement learning (MARL) for handling deadlocks in intralogistics systems that rely on autonomous mobile robots (AMRs). AMRs enhance operational flexibility but also increase the risk of deadlocks, which degrade system throughput and reliability. Existing approaches often neglect deadlock handling in the planning phase and rely on rigid control rules that cannot adapt to dynamic operational conditions. To address these shortcomings, this work develops a structured methodology for integrating MARL into logistics planning and operational control. It introduces reference models that explicitly consider deadlock-capable multi-agent pathfinding (MAPF) problems, enabling systematic evaluation of MARL strategies. Using grid-based environments and an external simulation software, the study compares traditional deadlock handling strategies with MARL-based solutions, focusing on PPO and IMPALA algorithms under different training and execution modes. Findings reveal that MARL-based strategies, particularly when combined with centralized training and decentralized execution (CTDE), outperform rule-based methods in complex, congested environments. In simpler environments or those with ample spatial freedom, rule-based methods remain competitive due to their lower computational demands. These results highlight that MARL provides a flexible and scalable solution for deadlock handling in dynamic intralogistics scenarios, but requires careful tailoring to the operational context.

Diffusion models recently emerged as a powerful paradigm for recommender systems, offering state-of-the-art performance by modeling the generative process of user-item interactions. However, training such models from scratch is both computationally expensive and yields diminishing returns once convergence is reached. To remedy these challenges, we propose ReFiT, a new framework that integrates Reinforcement learning (RL)-based Fine-Tuning into diffusion-based recommender systems. In contrast to prior RL approaches for diffusion models depending on external reward models, ReFiT adopts a task-aligned design: it formulates the denoising trajectory as a Markov decision process (MDP) and incorporates a collaborative signal-aware reward function that directly reflects recommendation quality. By tightly coupling the MDP structure with this reward signal, ReFiT empowers the RL agent to exploit high-order connectivity for fine-grained optimization, while avoiding the noisy or uninformative feedback common in naive reward designs. Leveraging policy gradient optimization, ReFiT maximizes exact log-likelihood of observed interactions, thereby enabling effective post hoc fine-tuning of diffusion recommenders. Comprehensive experiments on wide-ranging real-world datasets demonstrate that the proposed ReFiT framework (a) exhibits substantial performance gains over strong competitors (up to 36.3% on sequential recommendation), (b) demonstrates strong efficiency with linear complexity in the number of users or items, and (c) generalizes well across multiple diffusion-based recommendation scenarios. The source code and datasets are publicly available at https://anonymous.4open.science/r/ReFiT-4C60.

We establish the convergence of the deep actor-critic reinforcement learning algorithm presented in [Angiuli et al., 2023a] in the setting of continuous state and action spaces with an infinite discrete-time horizon. This algorithm provides solutions to Mean Field Game (MFG) or Mean Field Control (MFC) problems depending on the ratio between two learning rates: one for the value function and the other for the mean field term. In the MFC case, to rigorously identify the limit, we introduce a discretization of the state and action spaces, following the approach used in the finite-space case in [Angiuli et al., 2023b]. The convergence proofs rely on a generalization of the two-timescale framework introduced in [Borkar, 1997]. We further extend our convergence results to Mean Field Control Games, which involve locally cooperative and globally competitive populations. Finally, we present numerical experiments for linear-quadratic problems in one and two dimensions, for which explicit solutions are available.

Recent advances in Multimodal Large Language Models (MLLMs) have spurred significant progress in Chain-of-Thought (CoT) reasoning. Building on the success of Deepseek-R1, researchers extended multimodal reasoning to post-training paradigms based on reinforcement learning (RL), focusing predominantly on mathematical datasets. However, existing post-training paradigms tend to neglect two critical aspects: (1) The lack of quantifiable difficulty metrics capable of strategically screening samples for post-training optimization. (2) Suboptimal post-training paradigms that fail to jointly optimize perception and reasoning capabilities. To address this gap, we propose two novel difficulty-aware sampling strategies: Progressive Image Semantic Masking (PISM) quantifies sample hardness through systematic image degradation, while Cross-Modality Attention Balance (CMAB) assesses cross-modal interaction complexity via attention distribution analysis. Leveraging these metrics, we design a hierarchical training framework that incorporates both GRPO-only and SFT+GRPO hybrid training paradigms, and evaluate them across six benchmark datasets. Experiments demonstrate consistent superiority of GRPO applied to difficulty-stratified samples compared to conventional SFT+GRPO pipelines, indicating that strategic data sampling can obviate the need for supervised fine-tuning while improving model accuracy. Our code will be released at https://github.com/qijianyu277/DifficultySampling.

Contracts are complex documents featuring detailed formal structures, explicit and implicit dependencies and rich semantic content. Given these document properties, contract drafting and manual examination of contracts have proven to be both arduous and susceptible to errors. This work aims to simplify and automate the task of contract review and analysis using a novel framework for transforming legal contracts into structured semantic graphs, enabling computational analysis and data-driven insights. We introduce a detailed ontology mapping core legal contract elements to their graph-theoretic equivalents of nodes and edges. We then present a reinforcement learning based Large Language Model (LLM) framework for segmentation and extraction of entities and relationships from contracts. Our method, GRAPH-GRPO-LEX, incorporates both LLMs and reinforcement learning with group relative policy optimization (GRPO). By applying a carefully drafted reward function of graph metrics, we demonstrate the ability to automatically identify direct relationships between clauses, and even uncover hidden dependencies. Our introduction of the gated GRPO approach shows a strong learning signal and can move contract analysis from a linear, manual reading process to an easily visualized graph. This allows for a more dynamic analysis, including building the groundwork for contract linting similar to what is now practiced in software engineering.

Abstract-- In this paper we present an underactuated biomimetic underwater robot that is suitable for ecosystem monitoring in both marine and freshwater environments. We present an updated mechanical design for a fish-like robot and propose minimal actuation behaviors learned using reinforcement learning techniques. We present our preliminary mechanical design of the tail oscillation mechanism and illustrate the swimming behaviors on FishGym simulator, where the reinforcement learning techniques will be tested on. I. INTRODUCTION Recent years have seen growing interest in underwater exploration for ecosystem monitoring, marine education, navigation and rescue. Bio-inspired soft robots, particularly fish-like ones, are well suited for observing marine ecosystems that are fragile and undisturbed.

Abstract--This chapter addresses the critical challenge of simulation-to-reality (sim-to-real) transfer for deep reinforcement learning (DRL) in bipedal locomotion. The first is to shrink the gap through model-centric strategies that systematically improve the simulator's physical fidelity. The second is to harden the policy, a complementary approach that uses in-simulation robustness training and post-deployment adaptation to make the policy inherently resilient to model inaccuracies. The chapter concludes by synthesizing these philosophies into a strategic framework, providing a clear roadmap for developing and evaluating robust sim-to-real solutions. Bipedal robots, machines that walk on two legs, are compelling platforms for operation in human-centric and natural environments. They can climb stairs, step over irregular obstacles, traverse narrow passages, and access spaces that are impractical for wheeled platforms. Their anthropomorphic form factor also enables natural interaction with tools and infrastructure designed for humans, making them suitable for disaster response, healthcare, logistics, and industrial applications. Bipedal locomotion remains challenging because of its high dimensionality, underactuation, and intermittent contacts. Model-based methods struggle with complex dynamics, whereas deep reinforcement learning (DRL) has achieved impressive simulation results in bipedal locomotion through trial and error. As shown in Figure 1, DRL achieves more robust performance than model-based control, particularly as task complexity increases. Most controllers adopt either end-to-end policies that map observations to actions or hierarchical policies that decouple high-level (HL) intent from low-level (LL) execution. Both approaches perform well in simulation but transfer unreliably to hardware, a limitation known as the sim-to-real gap.

Large Language Models (LLMs) have demonstrated remarkable performance across a wide range of reasoning tasks. Recent methods have further improved LLM performance in complex mathematical reasoning. However, when extending these methods beyond the domain of mathematical reasoning to tasks involving complex domain-specific knowledge, we observe a consistent failure of LLMs to generate novel insights during the reflection stage. Instead of conducting genuine cognitive refinement, the model tends to mechanically reiterate earlier reasoning steps without introducing new information or perspectives, a phenomenon referred to as "Echo Reflection". We attribute this behavior to two key defects: (1) Uncontrollable information flow during response generation, which allows premature intermediate thoughts to propagate unchecked and distort final decisions; (2) Insufficient exploration of internal knowledge during reflection, leading to repeating earlier findings rather than generating new cognitive insights. Building on these findings, we proposed a novel reinforcement learning method termed Adaptive Entropy Policy Optimization (AEPO). Specifically, the AEPO framework consists of two major components: (1) Reflection-aware Information Filtration, which quantifies the cognitive information flow and prevents the final answer from being affected by earlier bad cognitive information; (2) Adaptive-Entropy Optimization, which dynamically balances exploration and exploitation across different reasoning stages, promoting both reflective diversity and answer correctness. Extensive experiments demonstrate that AEPO consistently achieves state-of-the-art performance over mainstream reinforcement learning baselines across diverse benchmarks.