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In finance, sequential decision problems are often faced, for which reinforcement learning (RL) emerges as a promising tool for optimisation without the need of analytical tractability. However, the objective of classical RL is the expected…
Reinforcement learning provides an appealing framework for robotic control due to its ability to learn expressive policies purely through real-world interaction. However, this requires addressing real-world constraints and avoiding…
We present OmniVIC, a universal variable impedance controller (VIC) enhanced by a vision language model (VLM), which improves safety and adaptation in any contact-rich robotic manipulation task to enhance safe physical interaction.…
Continual reinforcement learning (continual RL) seeks to formalize the notions of lifelong learning and endless adaptation in RL. In particular, the aim of continual RL is to develop RL agents that can maintain a careful balance between…
As safety is of paramount importance in robotics, reinforcement learning that reflects safety, called safe RL, has been studied extensively. In safe RL, we aim to find a policy which maximizes the desired return while satisfying the defined…
Autonomous driving has garnered significant attention in recent years, especially in optimizing vehicle performance under varying conditions. This paper addresses the challenge of maintaining maximum speed stability in low-speed autonomous…
Reinforcement Learning (RL)-based control system has received considerable attention in recent decades. However, in many real-world problems, such as Batch Process Control, the environment is uncertain, which requires expensive interaction…
Safe reinforcement learning (Safe RL) seeks to maximize rewards while satisfying safety constraints, typically addressed through Lagrangian-based methods. However, existing approaches, including PID and classical Lagrangian methods, suffer…
Representation learning (RL) methods learn objects' latent embeddings where information is preserved by distances. Since distances are invariant to certain linear transformations, one may obtain different embeddings while preserving the…
Reinforcement learning (RL) and model predictive control (MPC) offer a wealth of distinct approaches for automatic decision-making under uncertainty. Given the impact both fields have had independently across numerous domains, there is…
Reinforcement Learning (RL) has achieved tremendous success in many complex decision-making tasks. However, safety concerns are raised during deploying RL in real-world applications, leading to a growing demand for safe RL algorithms, such…
Ensuring reliability in modern software systems requires rigorous pre-production testing across highly heterogeneous and evolving environments. Because exhaustive evaluation is infeasible, practitioners must decide how to allocate limited…
Robots and autonomous agents often complete goal-based tasks with limited resources, relying on imperfect models and sensor measurements. In particular, reinforcement learning (RL) and feedback control can be used to help a robot achieve a…
The kind of closed-loop verification likely to be required for autonomous vehicle (AV) safety testing is beyond the reach of traditional test methodologies and discrete verification. Validation puts the autonomous vehicle system to the test…
Reinforcement learning (RL) has become widely adopted in robot control. Despite many successes, one major persisting problem can be very low data efficiency. One solution is interactive feedback, which has been shown to speed up RL…
One of the great promises of robot learning systems is that they will be able to learn from their mistakes and continuously adapt to ever-changing environments. Despite this potential, most of the robot learning systems today are deployed…
Reinforcement learning (RL) faces substantial challenges when applied to real-life problems, primarily stemming from the scarcity of available data due to limited interactions with the environment. This limitation is exacerbated by the fact…
The paper introduces an interactive machine learning mechanism to process the measurements of an uncertain, nonlinear dynamic process and hence advise an actuation strategy in real-time. For concept demonstration, a trajectory-following…
Deep Reinforcement Learning (RL) has shown promise in addressing complex robotic challenges. In real-world applications, RL is often accompanied by failsafe controllers as a last resort to avoid catastrophic events. While necessary for…
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…