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The Reinforcement Learning (RL) paradigm has been an essential tool for automating robotic tasks. Despite the advances in RL, it is still not widely adopted in the industry due to the need for an expensive large amount of robot interaction…

The sample inefficiency of reinforcement learning (RL) remains a significant challenge in robotics. RL requires large-scale simulation and can still cause long training times, slowing research and innovation. This issue is particularly…

Reinforcement learning (RL) agents with pre-specified reward functions cannot provide guaranteed safety across variety of circumstances that an uncertain system might encounter. To guarantee performance while assuring satisfaction of safety…

Improving sample efficiency is central to Reinforcement Learning (RL), especially in environments where the rewards are sparse. Some recent approaches have proposed to specify reward functions as manually designed or learned reward…

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…

Unmanned autonomous vehicles (UAVs) rely on effective path planning and tracking control to accomplish complex tasks in various domains. Reinforcement Learning (RL) methods are becoming increasingly popular in control applications, as they…

Reinforcement learning (RL) is capable of sophisticated motion planning and control for robots in uncertain environments. However, state-of-the-art deep RL approaches typically lack safety guarantees, especially when the robot and…

Safe reinforcement learning (RL) agents accomplish given tasks while adhering to specific constraints. Employing constraints expressed via easily-understandable human language offers considerable potential for real-world applications due to…

Reinforcement learning (RL) is a powerful framework for optimal decision-making and control but often lacks provable guarantees for safety-critical applications. In this paper, we introduce a novel recovery-based shielding framework that…

Data-efficient reinforcement learning (RL) in continuous state-action spaces using very high-dimensional observations remains a key challenge in developing fully autonomous systems. We consider a particularly important instance of this…

Safety is a critical hurdle that limits the application of deep reinforcement learning (RL) to real-world control tasks. To this end, constrained reinforcement learning leverages cost functions to improve safety in constrained Markov…

Cost functions are commonly employed in Safe Deep Reinforcement Learning (DRL). However, the cost is typically encoded as an indicator function due to the difficulty of quantifying the risk of policy decisions in the state space. Such an…

Vision-based reinforcement learning (RL) is a promising technique to solve control tasks involving images as the main observation. State-of-the-art RL algorithms still struggle in terms of sample efficiency, especially when using image…

Action-conditioned robot world models generate future video frames of the manipulated scene given a robot action sequence, offering a promising alternative for simulating tasks that are difficult to model with traditional physics engines.…

We propose a new low-cost machine-learning-based methodology which assists designers in reducing the gap between the problem and the solution in the design process. Our work applies reinforcement learning (RL) to find the optimal…

In safe offline reinforcement learning (RL), the objective is to develop a policy that maximizes cumulative rewards while strictly adhering to safety constraints, utilizing only offline data. Traditional methods often face difficulties in…

An important facet of reinforcement learning (RL) has to do with how the agent goes about exploring the environment. Traditional exploration strategies typically focus on efficiency and ignore safety. However, for practical applications,…

Reinforcement learning (RL) agents need to explore their environment to learn optimal behaviors and achieve maximum rewards. However, exploration can be risky when training RL directly on real systems, while simulation-based training…

Alignment is vital for safely deploying large language models (LLMs). Existing techniques are either reward-based (training a reward model on preference pairs and optimizing with reinforcement learning) or reward-free (directly fine-tuning…

Building deep reinforcement learning (RL) agents that find a good policy with few samples has proven notoriously challenging. To achieve sample efficiency, recent work has explored updating neural networks with large numbers of gradient…