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The stabilization of quantum states is a fundamental problem for realizing various quantum technologies. Measurement-based-feedback strategies have demonstrated powerful performance, and the construction of quantum control signals using…
Traditional controllers have limitations as they rely on prior knowledge about the physics of the problem, require modeling of dynamics, and struggle to adapt to abnormal situations. Deep reinforcement learning has the potential to address…
Training self-driving cars is often challenging since they require a vast amount of labeled data in multiple real-world contexts, which is computationally and memory intensive. Researchers often resort to driving simulators to train the…
Deep reinforcement learning is an effective tool to learn robot control policies from scratch. However, these methods are notorious for the enormous amount of required training data which is prohibitively expensive to collect on real…
Learning robot tasks or controllers using deep reinforcement learning has been proven effective in simulations. Learning in simulation has several advantages. For example, one can fully control the simulated environment, including halting…
A reinforcement learning (RL) policy trained in a nominal environment could fail in a new/perturbed environment due to the existence of dynamic variations. Existing robust methods try to obtain a fixed policy for all envisioned dynamic…
In this work, we use optimal control to change the behavior of a deep reinforcement learning policy by optimizing directly in the policy's latent space. We hypothesize that distinct behavioral patterns, termed behavioral modes, can be…
Deep reinforcement learning for high dimensional, hierarchical control tasks usually requires the use of complex neural networks as functional approximators, which can lead to inefficiency, instability and even divergence in the training…
Deep reinforcement learning has proven remarkably useful in training agents from unstructured data. However, the opacity of the produced agents makes it difficult to ensure that they adhere to various requirements posed by human engineers.…
Deep Reinforcement Learning (RL) has considerably advanced over the past decade. At the same time, state-of-the-art RL algorithms require a large computational budget in terms of training time to converge. Recent work has started to…
Closed loop quantum control uses measurement to control the dynamics of a quantum system to achieve either a desired target state or target dynamics. In the case when the quantum Hamiltonian is quadratic in ${x}$ and ${p}$, there are known…
Multi-robot navigation is a challenging task in which multiple robots must be coordinated simultaneously within dynamic environments. We apply deep reinforcement learning (DRL) to learn a decentralized end-to-end policy which maps raw…
Reinforcement Learning (RL) of robotic manipulation skills, despite its impressive successes, stands to benefit from incorporating domain knowledge from control theory. One of the most important properties that is of interest is control…
This work provides a Deep Reinforcement Learning approach to solving a periodic review inventory control system with stochastic vendor lead times, lost sales, correlated demand, and price matching. While this dynamic program has…
This paper studies satisfaction of temporal properties on unknown stochastic processes that have continuous state spaces. We show how reinforcement learning (RL) can be applied for computing policies that are finite-memory and deterministic…
Using Reinforcement Learning (RL) in simulation to construct policies useful in real life is challenging. This is often attributed to the sequential decision making aspect: inaccuracies in simulation accumulate over multiple steps, hence…
Robust control policy learning for autonomous driving requires training environments to be both physically realistic and computationally scalable, properties that existing simulators provide only in isolation. We introduce Sim2Sim2Sim, a…
In this thesis, we consider two simple but typical control problems and apply deep reinforcement learning to them, i.e., to cool and control a particle which is subject to continuous position measurement in a one-dimensional quadratic…
Deep reinforcement learning (RL) has been recognized as a promising tool to address the challenges in real-time control of power systems. However, its deployment in real-world power systems has been hindered by a lack of formal stability…
This paper presents an online reinforcement-learning framework for safe gain scheduling of a nonlinear quadcopter controller. Rather than learning thrust and torque commands directly, the proposed method selects gain vectors online from a…