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Urban autonomous driving decision making is challenging due to complex road geometry and multi-agent interactions. Current decision making methods are mostly manually designing the driving policy, which might result in sub-optimal solutions…
Recently, reinforcement learning has been used to address logic synthesis by formulating the operator sequence optimization problem as a Markov decision process. However, through extensive experiments, we find out that the learned policy…
Opponent modeling is necessary in multi-agent settings where secondary agents with competing goals also adapt their strategies, yet it remains challenging because strategies interact with each other and change. Most previous work focuses on…
Future Mars missions will require advanced guidance, navigation, and control algorithms for the powered descent phase to target specific surface locations and achieve pinpoint accuracy (landing error ellipse $<$ 5 m radius). The latter…
Policy learning for partially observed control tasks requires policies that can remember salient information from past observations. In this paper, we present a method for learning policies with internal memory for high-dimensional,…
Many applications -- including power systems, robotics, and economics -- involve a dynamical system interacting with a stochastic and hard-to-model environment. We adopt a reinforcement learning approach to control such systems.…
The current thesis aims to explore the reinforcement learning field and build on existing methods to produce improved ones to tackle the problem of learning in high-dimensional and complex environments. It addresses such goals by…
Growing concerns regarding the operational usage of AI models in the real-world has caused a surge of interest in explaining AI models' decisions to humans. Reinforcement Learning is not an exception in this regard. In this work, we propose…
Many high-performance human activities are executed with little or no external feedback: think of a figure skater landing a triple jump, a pitcher throwing a curveball for a strike, or a barista pouring latte art. To study the process of…
Reinforcement learning provides a powerful and flexible framework for automated acquisition of robotic motion skills. However, applying reinforcement learning requires a sufficiently detailed representation of the state, including the…
In meta-reinforcement learning, an agent is trained in multiple different environments and attempts to learn a meta-policy that can efficiently adapt to a new environment. This paper presents RAMP, a Reinforcement learning Agent using Model…
Reinforcement Learning is a powerful tool to model decision-making processes. However, it relies on an exploration-exploitation trade-off that remains an open challenge for many tasks. In this work, we study neighboring state-based,…
Reinforcement learning has been established over the past decade as an effective tool to find optimal control policies for dynamical systems, with recent focus on approaches that guarantee safety during the learning and/or execution phases.…
The performance of reinforcement learning depends upon designing an appropriate action space, where the effect of each action is measurable, yet, granular enough to permit flexible behavior. So far, this process involved non-trivial user…
Climate Change is an incredibly complicated problem that humanity faces. When many variables interact with each other, it can be difficult for humans to grasp the causes and effects of the very large-scale problem of climate change. The…
While reinforcement learning has achieved considerable successes in recent years, state-of-the-art models are often still limited by the size of state and action spaces. Model-free reinforcement learning approaches use some form of state…
Deep reinforcement learning suffers from catastrophic forgetting and sample inefficiency making it less applicable to the ever-changing real world. However, the ability to use previously learned knowledge is essential for AI agents to…
We introduce a new framework that performs decision-making in reinforcement learning (RL) as an iterative reasoning process. We model agent behavior as the steady-state distribution of a parameterized reasoning Markov chain (RMC), optimized…
Reinforcement Learning methods are capable of solving complex problems, but resulting policies might perform poorly in environments that are even slightly different. In robotics especially, training and deployment conditions often vary and…
Many real-world sequential decision making problems are partially observable by nature, and the environment model is typically unknown. Consequently, there is great need for reinforcement learning methods that can tackle such problems given…