Related papers: Dynamic Safe Interruptibility for Decentralized Mu…

Deep reinforcement learning has shown promising results on an abundance of robotic tasks in simulation, including visual navigation and manipulation. Prior work generally aims to build embodied agents that solve their assigned tasks as…

This paper introduces a decentralized multi-agent reinforcement learning framework enabling structurally heterogeneous teams of agents to jointly discover and acquire randomly located targets in environments characterized by partial…

Autonomous driving faces challenges in navigating complex real-world traffic, requiring safe handling of both common and critical scenarios. Reinforcement learning (RL), a prominent method in end-to-end driving, enables agents to learn…

Recent work in AI safety has highlighted that in sequential decision making, objectives are often underspecified or incomplete. This gives discretion to the acting agent to realize the stated objective in ways that may result in undesirable…

Delays are inherent to most dynamical systems. Besides shifting the process in time, they can significantly affect their performance. For this reason, it is usually valuable to study the delay and account for it. Because they are dynamical…

Society is characterized by the presence of a variety of social norms: collective patterns of sanctioning that can prevent miscoordination and free-riding. Inspired by this, we aim to construct learning dynamics where potentially beneficial…

Despite remarkable achievements in artificial intelligence, the deployability of learning-enabled systems in high-stakes real-world environments still faces persistent challenges. For example, in safety-critical domains like autonomous…

Navigating through intersections is one of the main challenging tasks for an autonomous vehicle. However, for the majority of intersections regulated by traffic lights, the problem could be solved by a simple rule-based method in which the…

Robust coordination skills enable agents to operate cohesively in shared environments, together towards a common goal and, ideally, individually without hindering each other's progress. To this end, this paper presents Coordinated QMIX…

When learning behavior, training data is often generated by the learner itself; this can result in unstable training dynamics, and this problem has particularly important applications in safety-sensitive real-world control tasks such as…

An important goal in reinforcement learning is to create agents that can quickly adapt to new goals while avoiding situations that might cause damage to themselves or their environments. One way agents learn is through exploration…

We investigate the important problem of certifying stability of reinforcement learning policies when interconnected with nonlinear dynamical systems. We show that by regulating the input-output gradients of policies, strong guarantees of…

Most learning algorithms with formal regret guarantees essentially rely on trying all possible behaviors, which is problematic when some errors cannot be recovered from. Instead, we allow the learning agent to ask for help from a mentor and…

Reinforcement learning (RL) algorithms have been around for decades and employed to solve various sequential decision-making problems. These algorithms however have faced great challenges when dealing with high-dimensional environments. The…

Both entropy-minimizing and entropy-maximizing (curiosity) objectives for unsupervised reinforcement learning (RL) have been shown to be effective in different environments, depending on the environment's level of natural entropy. However,…

Reinforcement Learning (RL) has been shown to be effective in many scenarios. However, it typically requires the exploration of a sufficiently large number of state-action pairs, some of which may be unsafe. Consequently, its application to…

Reinforcement learning (RL) enables agents to learn optimal behaviors through interaction with their environment and has been increasingly deployed in safety-critical applications, including autonomous driving. Despite its promise, RL is…

Approaches to keeping a dynamical system within state constraints typically rely on a model-based safety condition to limit the control signals. In the face of significant modeling uncertainty, the system can suffer from important…

Imitation learning seeks to learn an expert policy from sampled demonstrations. However, in the real world, it is often difficult to find a perfect expert and avoiding dangerous behaviors becomes relevant for safety reasons. We present the…

This paper proposes an intent-aware multi-agent planning framework as well as a learning algorithm. Under this framework, an agent plans in the goal space to maximize the expected utility. The planning process takes the belief of other…