Sep 2026· Zenodo (CERN European Organization for Nuclear Research)
Reinforcement Learning in Robotics
Abstract
This paper introduces a novel dynamic topology-based non-linear reinforcement learning (RL) algorithm designed to enhance learning efficiency and robustness. Traditional reinforcement learning methods often rely on static strategies, limiting adaptability and vulnerability to environmental changes. Our algorithm dynamically adjusts the topology of the state space, effectively simulating the learning process and mitigating the impact of perturbations. We explore how this dynamic structure contributes to improved performance across a range of tasks. The core mechanism centers around the continuous evolution of state representations, driven by a simulated topology, enabling the agent to better generalize to unseen scenarios. This work presents a framework for building more robust and adaptable reinforcement learning agents.
The results indicate that software engineering work practices are chosen opportunistically, adapted and configured to provide value under the constrains imposed by the startup context.
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A comprehensive overview of how enhanced sampling methods are reshaping the field, with a particular focus on the data-driven construction of collective variables, is provided.
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