Cover Image

Robust Adversarial Policy Optimization Under Dynamics Uncertainty

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Kim, Mintae, Sreenath, Koushil
Format:	Preprint
Published:	2026
Subjects:	Machine Learning Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

WOMBET: World Model-based Experience Transfer for Robust and Sample-efficient Reinforcement Learning
by: Kim, Mintae, et al.
Published: (2026)

RoVerFly: Robust and Versatile Implicit Hybrid Control of Quadrotor-Payload Systems
by: Kim, Mintae, et al.
Published: (2025)

Learning-based Trajectory Tracking for Bird-inspired Flapping-Wing Robots
by: Cai, Jiaze, et al.
Published: (2024)

Estimation of Aerodynamics Forces in Dynamic Morphing Wing Flight
by: Gupta, Bibek, et al.
Published: (2025)

Coordinated Humanoid Manipulation with Choice Policies
by: Qi, Haozhi, et al.
Published: (2025)

Prompt a Robot to Walk with Large Language Models
by: Wang, Yen-Jen, et al.
Published: (2023)

Learning Visual Quadrupedal Loco-Manipulation from Demonstrations
by: He, Zhengmao, et al.
Published: (2024)

CHyLL: Learning Continuous Neural Representations of Hybrid Systems
by: Teng, Sangli, et al.
Published: (2025)

CurricuLLM: Automatic Task Curricula Design for Learning Complex Robot Skills using Large Language Models
by: Ryu, Kanghyun, et al.
Published: (2024)

Gait Switching and Enhanced Stabilization of Walking Robots with Deep Learning-based Reachability: A Case Study on Two-link Walker
by: Xia, Xingpeng, et al.
Published: (2024)

Diffuse-CLoC: Guided Diffusion for Physics-based Character Look-ahead Control
by: Huang, Xiaoyu, et al.
Published: (2025)

Humanoid Locomotion as Next Token Prediction
by: Radosavovic, Ilija, et al.
Published: (2024)

Learning Hybrid-Control Policies for High-Precision In-Contact Manipulation Under Uncertainty
by: Brown, Hunter L., et al.
Published: (2026)

Duality-based Convex Optimization for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions
by: Thirugnanam, Akshay, et al.
Published: (2021)

Towards Robust Policy: Enhancing Offline Reinforcement Learning with Adversarial Attacks and Defenses
by: Nguyen, Thanh, et al.
Published: (2024)

Diffusion Policy Policy Optimization
by: Ren, Allen Z., et al.
Published: (2024)

Off-Policy Actor-Critic for Adversarial Observation Robustness: Virtual Alternative Training via Symmetric Policy Evaluation
by: Nakanishi, Kosuke, et al.
Published: (2025)

Tempered Sequential Monte Carlo for Trajectory and Policy Optimization with Differentiable Dynamics
by: Yang, Heng
Published: (2026)

Learning Generalizable Visuomotor Policy through Dynamics-Alignment
by: Lee, Dohyeok, et al.
Published: (2025)

When to Act, Ask, or Learn: Uncertainty-Aware Policy Steering
by: Yuan, Jessie, et al.
Published: (2026)

Uncertainty Comes for Free: Human-in-the-Loop Policies with Diffusion Models
by: He, Zhanpeng, et al.
Published: (2025)

Diffusion Policy through Conditional Proximal Policy Optimization
by: Liu, Ben, et al.
Published: (2026)

Adversarial Robustness Analysis of Cloud-Assisted Autonomous Driving Systems
by: Islam, Maher Al, et al.
Published: (2026)

DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories
by: Bouvier, Jean-Baptiste, et al.
Published: (2025)

Dichotomous Diffusion Policy Optimization
by: Liang, Ruiming, et al.
Published: (2025)

Safety Filters for Black-Box Dynamical Systems by Learning Discriminating Hyperplanes
by: Lavanakul, Will, et al.
Published: (2024)

Robust Policy Learning via Offline Skill Diffusion
by: Kim, Woo Kyung, et al.
Published: (2024)

Gameplay Filters: Robust Zero-Shot Safety through Adversarial Imagination
by: Nguyen, Duy P., et al.
Published: (2024)

Uncertainty-Aware Deployment of Pre-trained Language-Conditioned Imitation Learning Policies
by: Wu, Bo, et al.
Published: (2024)

Delay-Aware Diffusion Policy: Bridging the Observation-Execution Gap in Dynamic Tasks
by: Liao, Aileen, et al.
Published: (2025)

PolicyFlow: Policy Optimization with Continuous Normalizing Flow in Reinforcement Learning
by: Yang, Shunpeng, et al.
Published: (2026)

Finite Memory Belief Approximation for Optimal Control in Partially Observable Markov Decision Processes
by: Kim, Mintae
Published: (2026)

State-wise Constrained Policy Optimization
by: Zhao, Weiye, et al.
Published: (2023)

Rethinking Robustness Assessment: Adversarial Attacks on Learning-based Quadrupedal Locomotion Controllers
by: Shi, Fan, et al.
Published: (2024)

Fast and Robust Visuomotor Riemannian Flow Matching Policy
by: Ding, Haoran, et al.
Published: (2024)

Safe Domain Randomization via Uncertainty-Aware Out-of-Distribution Detection and Policy Adaptation
by: Danesh, Mohamad H., et al.
Published: (2025)

Generalized Information Gathering Under Dynamics Uncertainty
by: Palafox, Fernando, et al.
Published: (2026)

Dynamic Obstacle Avoidance with Bounded Rationality Adversarial Reinforcement Learning
by: Holgado-Alvarez, Jose-Luis, et al.
Published: (2025)

HuB: Learning Extreme Humanoid Balance
by: Zhang, Tong, et al.
Published: (2025)

Robotic World Model: A Neural Network Simulator for Robust Policy Optimization in Robotics
by: Li, Chenhao, et al.
Published: (2025)