Modern deep policy gradient methods achieve effective performance on simulated robotic tasks, but they all require large replay buffers or expensive batch updates, or both, making them incompatible for real systems with resource-limited computers. We show that these methods fail catastrophically when limited to small replay buffers or during incremental learning, where updates only use the most recent sample without batch updates or a replay buffer. We propose a novel incremental deep policy gradient method --- Action Value Gradient (AVG) and a set of normalization and scaling techniques to address the challenges of instability in incremental learning. On robotic simulation benchmarks, we show that AVG is the only incremental method that learns effectively, often achieving final performance comparable to batch policy gradient methods. This advancement enabled us to show for the first time effective deep reinforcement learning with real robots using only incremental updates, employing a robotic manipulator and a mobile robot.

Modern deep policy gradient methods achieve effective performance on simulated robotic tasks, but they all require large replay buffers or expensive batch updates, or both, making them incompatible for real systems with resource-limited computers. We show that these methods fail catastrophically when limited to small replay buffers or during incremental learning, where updates only use the most recent sample without batch updates or a replay buffer. We propose a novel incremental deep policy gradient method -- Action Value Gradient (AVG) and a set of normalization and scaling techniques to address the challenges of instability in incremental learning. On robotic simulation benchmarks, we show that AVG is the only incremental method that learns effectively, often achieving final performance comparable to batch policy gradient methods. This advancement enabled us to show for the first time effective deep reinforcement learning with real robots using only incremental updates, employing a robotic manipulator and a mobile robot.

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.