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<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8">
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<title>LipsNet++: Unifying Filter and Controller into a Policy Network</title>
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<body>
<section class="hero">
<div class="hero-body">
<div class="container is-max-desktop">
<div class="columns is-centered">
<div class="column has-text-centered">
<h1 class="title is-1 publication-title">LipsNet++: Unifying Filter and Controller into a Policy Network</h1>
<div class="is-size-5 publication-authors">
<span class="author-block"><b>ICML 2025 (Spotlight)</b></span>
</div>
<div class="is-size-5 publication-authors">
<span class="author-block">
X Song, L Chen, T Liu, W Wang, Y Wang, S Qin, Y Ma, J Duan<sup>*</sup>, S E Li<sup>*</sup>
</div>
<!-- <div class="is-size-5 publication-authors">
<span class="author-block">
<sup>1</sup>Tsinghua University <sup>2</sup>USTB <sup>3</sup>JHU
</div> -->
<!-- <div class="column has-text-centered">
<div class="publication-links">
-->
<br>
<div class="image-row">
<img src="static/images/thu_logo.jpg" />
<img src="static/images/jhu_logo_2.jpg" />
<img src="static/images/ustb_logo_2.png" />
</div>
<br>
<span class="link-block">
<a href="https://openreview.net/pdf?id=KZo2XhcSg6" target="_blank"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fas fa-file-pdf"></i>
</span>
<span>Paper</span>
</a>
</span>
<span class="link-block">
<a href="https://github.com/xjsong99/LipsNet_v2" target="_blank"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fab fa-github"></i>
</span>
<span>Code</span>
</a>
</span>
<span class="link-block">
<a href="https://github.com/xjsong99/LipsNet_v2/blob/main/materials/Poster.pdf" target="_blank"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fas fa-image"></i>
</span>
<span>Poster</span>
</a>
</span>
<span class="link-block">
<a href="https://mp.weixin.qq.com/s/b30Hpqhg_JCHhoNBYYgETA" target="_blank"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fab fa-weixin"></i>
</span>
<span>Post</span>
</a>
</span>
<!-- <span class="link-block">
<a href="https://github.com/xjsong99/LipsNet_v2" target="_blank"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="ai ai-arxiv"></i>
</span>
<span>arXiv</span>
</a> -->
</span>
</div>
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</div>
</div>
</div>
</section>
<!-- Paper abstract -->
<section class="section hero is-light">
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<h2 class="title is-3">Abstract</h2>
<div class="content has-text-justified">
<p>
Deep reinforcement learning (RL) is an effective approach for decision-making and control tasks. However, RL-trained policies often suffer from the action fluctuation problem, resulting in severe actuator wear, safety risks, and performance degradation in real-world applications. In this paper, we identified the two fundamental reasons of action fluctuation: observation noise and policy non-smoothness. Then, we proposed a novel policy network, LipsNet++, integrating a Fourier filter layer and a Lipschitz controller layer to mitigate these two factors decoupledly. The filter layer incorporates a trainable filter matrix that automatically extracts important frequencies while suppressing noise frequencies in the observations. The controller layer introduces a Jacobian regularization technique to achieve a low Lipschitz constant, ensuring smooth fitting of a policy function. These two layers function analogously to the filter and controller in classical control theory, suggesting that filtering and control capabilities can be seamlessly integrated into a single policy network. Both simulated and real-world experiments demonstrate that LipsNet++ achieves state-of-the-art noise robustness and action smoothness.
</p>
</div>
</div>
</div>
</div>
</section>
<!-- End paper abstract -->
<section class="section hero">
<div class="container is-max-desktop">
<div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<h2 class="title is-3">TL;DR</h2>
<div class="content has-text-justified">
<p>
The paper propose LipsNet++, a policy network incorporating a Fourier filter layer and Lipschitz controller layer. It can be used as policy network in most actor-critic RL algorithms to obtain smoother control action in real-world applications.
</p>
<img src="static/images/Thumbnail.png"
width="400"
class="center"/>
</div>
</div>
</div>
</div>
</section>
<section class="section hero is-light">
<div class="container is-max-desktop">
<div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<h2 class="title is-3">1. Reasons Identification of Action Fluctuation</h2>
<div class="content has-text-justified">
<p>
Our paper identifies the two fundamental reasons that causes action fluctuation:
</p>
<ul>
<li>Non-smoothness of policy network</li>
<li>Existence of observation noise</li>
</ul>
<img src="static/images/reason_identify.png"
width="850"
class="center"/>
<br>
<p>
Our paper proposes two layers to address the above two reasons, respectively.
</p>
<img src="static/images/two_reasons.png"
width="850"
class="center"/>
<br>
</div>
</div>
</div>
</div>
</section>
<section class="section hero">
<div class="container is-max-desktop">
<div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<h2 class="title is-3">2. Policy Network Structure</h2>
<div class="content has-text-justified">
<p>
There are two layers incorporated in LipsNet++:
</p>
<ul>
<li>Fourier filter layer</li>
<li>Lipschitz controller layer</li>
</ul>
<p>
The two layers respectively tackle the two fundamental reasons causing action fluctuation.
These two layers function analogously to the filter and controller in classical control theory, suggesting that filtering and control capabilities can be seamlessly integrated into a single policy network.
</p>
<img src="static/images/network_structure.png"
width="1000"
class="center"/>
<br>
LipsNet++ is applicable in almost all actor-critic RL algorithms, including DDPG, TD3, PPO, TRPO, SAC, and DSAC, etc.
LipsNet++ produces smooth control actions, which contributes to the real-world applications of RL.
</div>
</div>
</div>
</div>
</section>
<!-- <section class="section hero">
<div class="container is-max-desktop">
<div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<h2 class="title is-3">Test Video on DMControl</h2>
<div class="video-container">
<div class="video">
<video controls>
<source src="static/videos/banner_video.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
<div class="video-label">MLP</div>
</div>
<div class="video">
<video controls>
<source src="static/videos/banner_video.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
<div class="video-label">LipsNet</div>
</div>
<div class="video">
<video autoplay controls muted loop>
<source src="static/videos/LipsNet++_Reacher.mp4" type="video/mp4">
Your browser does not support the video tag.
</video>
<div class="video-label">LipsNet++ (ours)</div>
</div>
</div>
</div>
</div>
</div>
</section> -->
<section class="section hero is-light">
<div class="container is-max-desktop">
<div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<h2 class="title is-3">3. Video of Mini-Vehicle Driving Task</h2>
<div class="content has-text-justified">
<p>
This is a real-world application on the vehicle-robot driving task. The vehicle is controlled by the policy network, i.e. LipsNet++, trained by RL.
</p>
<p>
Click to watch the video:
</p>
<video poster="" id="tree" autoplay controls muted loop height="100%">
<source src="static/videos/Mini_Vehicle_Driving.mp4"
type="video/mp4">
</video>
</div>
</div>
</div>
</div>
</section>
<section class="section hero">
<div class="container is-max-desktop">
<div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<h2 class="title is-3">4. User-friendly Packaging</h2>
<div class="content has-text-justified">
<p>
The user-friendly packaging of LipsNet++ does not disturb original RL algorithm, allowing application in various RL algorithms.
Practitioners can use LipsNet++ just like an MLP.
</p>
<img src="static/images/packaging.png"
width="330"
class="center"/>
</div>
</div>
</div>
</div>
</section>
<!-- Your video here -->
<!-- Teaser video-->
<!-- <section class="hero teaser">
<div class="container is-max-desktop">
<div class="hero-body">
<video poster="" id="tree" autoplay controls muted loop height="100%">
<source src="static/videos/banner_video.mp4"
type="video/mp4">
</video>
<h2 class="subtitle has-text-centered">
Video introduction.
</h2>
</div>
</div>
</section> -->
<!-- End teaser video -->
<!-- Image carousel -->
<!-- <section class="hero is-small">
<div class="hero-body">
<div class="container">
<div id="results-carousel" class="carousel results-carousel">
<div class="item">
<img src="static/images/carousel1.jpg" alt="MY ALT TEXT"/>
<h2 class="subtitle has-text-centered">
First image description.
</h2>
</div>
<div class="item">
<img src="static/images/carousel2.jpg" alt="MY ALT TEXT"/>
<h2 class="subtitle has-text-centered">
Second image description.
</h2>
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<img src="static/images/carousel3.jpg" alt="MY ALT TEXT"/>
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Third image description.
</h2>
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<img src="static/images/carousel4.jpg" alt="MY ALT TEXT"/>
<h2 class="subtitle has-text-centered">
Fourth image description.
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</section> -->
<!-- End image carousel -->
<!-- Youtube video -->
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<h2 class="title is-3">Video Presentation</h2>
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<div class="publication-video">
<iframe src="https://www.youtube.com/embed/JkaxUblCGz0" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen></iframe>
</div>
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<!-- <section class="hero is-small">
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<h2 class="title is-3">Another Carousel</h2>
<div id="results-carousel" class="carousel results-carousel">
<div class="item item-video1">
<video poster="" id="video1" autoplay controls muted loop height="100%">
<source src="static/videos/carousel1.mp4"
type="video/mp4">
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<video poster="" id="video2" autoplay controls muted loop height="100%">
<source src="static/videos/carousel2.mp4"
type="video/mp4">
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<video poster="" id="video3" autoplay controls muted loop height="100%">\
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type="video/mp4">
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<!-- End video carousel -->
<!-- Paper poster -->
<!-- <section class="hero is-small is-light">
<div class="hero-body">
<div class="container">
<h2 class="title">Poster</h2>
<iframe src="static/pdfs/sample.pdf" width="100%" height="550">
</iframe>
</div>
</div>
</section> -->
<!--End paper poster -->
<!--BibTex citation -->
<section class="section" id="BibTeX">
<div class="container is-max-desktop content">
<h2 class="title">BibTeX</h2>
<pre><code>@inproceedings{lipsnet_v2,
title={LipsNet++: Unifying Filter and Controller into a Policy Network},
author={Song, Xujie and Chen, Liangfa and Liu, Tong and Wang, Wenxuan and Wang, Yinuo and Qin, Shentao and Ma, Yinsong and Duan, Jingliang and Li, Shengbo Eben},
booktitle={International Conference on Machine Learning},
year={2025},
organization={PMLR}
}</code></pre>
</div>
</section>
<!--End BibTex citation -->
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