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Reinforcement learning has become an essential algorithm for generating complex robotic behaviors. However, to learn such behaviors, it is necessary to design a reward function that describes the task, which often consists of multiple…
Several works have addressed the problem of incorporating constraints in the reinforcement learning (RL) framework, however majority of them can only guarantee the satisfaction of soft constraints. In this work, we address the problem of…
We study a Federated Reinforcement Learning (FedRL) problem in which $n$ agents collaboratively learn a single policy without sharing the trajectories they collected during agent-environment interaction. We stress the constraint of…
Although Reinforcement Learning (RL) is effective for sequential decision-making problems under uncertainty, it still fails to thrive in real-world systems where risk or safety is a binding constraint. In this paper, we formulate the RL…
Reinforcement learning (RL) provides a naturalistic framing for learning through trial and error, which is appealing both because of its simplicity and effectiveness and because of its resemblance to how humans and animals acquire skills…
Reinforcement learning (RL) has emerged as an effective paradigm for improving the reasoning capability of vision-language models (VLMs). However, RL-based optimization typically depends on costly high-quality annotations that are difficult…
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…
In safety-critical domains, reinforcement learning (RL) agents must often satisfy strict, zero-cost safety constraints while accomplishing tasks. Existing model-free methods frequently either fail to achieve near-zero safety violations or…
This paper studies reinforcement learning (RL) in doubly inhomogeneous environments under temporal non-stationarity and subject heterogeneity. In a number of applications, it is commonplace to encounter datasets generated by system dynamics…
Reinforcement Learning (RL) environments can produce training data with spurious correlations between features due to the amount of training data or its limited feature coverage. This can lead to RL agents encoding these misleading…
Reinforcement Learning (RL) has enabled vast performance improvements for robotics systems. To achieve these results though, the agent often must randomly explore the environment, which for safety critical systems presents a significant…
In this work, we investigate the application of Reinforcement Learning to two well known decision dilemmas, namely Newcomb's Problem and Prisoner's Dilemma. These problems are exemplary for dilemmas that autonomous agents are faced with…
Reinforcement learning (RL) algorithms have proven transformative in a range of domains. To tackle real-world domains, these systems often use neural networks to learn policies directly from pixels or other high-dimensional sensory input.…
Learning reward functions from data is a promising path towards achieving scalable Reinforcement Learning (RL) for robotics. However, a major challenge in training agents from learned reward models is that the agent can learn to exploit…
One of the main goals of reinforcement learning (RL) is to provide a~way for physical machines to learn optimal behavior instead of being programmed. However, effective control of the machines usually requires fine time discretization. The…
Reinforcement learning (RL) in autonomous driving employs a trial-and-error mechanism, enhancing robustness in unpredictable environments. However, crafting effective reward functions remains challenging, as conventional approaches rely…
Designing reliable decision strategies for autonomous urban driving is challenging. Reinforcement learning (RL) has been used to automatically derive suitable behavior in uncertain environments, but it does not provide any guarantee on the…
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…
Being able to solve a task in diverse ways makes agents more robust to task variations and less prone to local optima. In this context, constrained diversity optimization has become a useful reinforcement learning (RL) framework for…
We study the problem of off-policy value evaluation in reinforcement learning (RL), where one aims to estimate the value of a new policy based on data collected by a different policy. This problem is often a critical step when applying RL…