Related papers: A reinforcement learning method with closed-loop s…
Safe reinforcement learning (RL) seeks to mitigate unsafe behaviors that arise from exploration during training by reducing constraint violations while maintaining task performance. Existing approaches typically rely on a single policy to…
Reinforcement learning (RL) is a powerful data-driven control method that has been largely explored in autonomous driving tasks. However, conventional RL approaches learn control policies through trial-and-error interactions with the…
In this article, we aim to provide a literature review of different formulations and approaches to continual reinforcement learning (RL), also known as lifelong or non-stationary RL. We begin by discussing our perspective on why RL is a…
Inverter-based distributed energy resources provide the possibility for fast time-scale voltage control by quickly adjusting their reactive power. The power-electronic interfaces allow these resources to realize almost arbitrary control…
We study constrained reinforcement learning (CRL) from a novel perspective by setting constraints directly on state density functions, rather than the value functions considered by previous works. State density has a clear physical and…
Reinforcement learning (RL) has been successfully applied to a variety of robotics applications, where it outperforms classical methods. However, the safety aspect of RL and the transfer to the real world remain an open challenge. A…
In safe Reinforcement Learning (RL), safety cost is typically defined as a function dependent on the immediate state and actions. In practice, safety constraints can often be non-Markovian due to the insufficient fidelity of state…
This work aims to synthesize a controller that ensures that an unknown discrete-time system is incrementally input-to-state stable ($\delta$-ISS). In this work, we introduce the notion of $\delta$-ISS control Lyapunov function…
Reinforcement learning (RL) is a promising tool to solve robust optimal well control problems where the model parameters are highly uncertain, and the system is partially observable in practice. However, RL of robust control policies often…
Robotic arms are increasingly deployed in uncertain environments, yet conventional control pipelines often become rigid and brittle when exposed to perturbations or incomplete information. Virtual Model Control (VMC) enables compliant…
For all its successes, Reinforcement Learning (RL) still struggles to deliver formal guarantees on the closed-loop behavior of the learned policy. Among other things, guaranteeing the safety of RL with respect to safety-critical systems is…
Learning from Demonstration (LfD) is a powerful method for enabling robots to perform novel tasks as it is often more tractable for a non-roboticist end-user to demonstrate the desired skill and for the robot to efficiently learn from the…
In this paper, a deep reinforcement learning (DRL)-based approach to the Lyapunov optimization is considered to minimize the time-average penalty while maintaining queue stability. A proper construction of state and action spaces is…
In this paper, we address the stabilization problem for force-controlled nonholonomic mobile robots under safety-critical constraints. We propose a continuous, time-invariant control law based on the gamma m-quadratic programming (gamma…
Designing optimal controllers continues to be challenging as systems are becoming complex and are inherently nonlinear. The principal advantage of reinforcement learning (RL) is its ability to learn from the interaction with the environment…
This paper introduces a flight envelope protection algorithm on a longitudinal axis that leverages reinforcement learning (RL). By considering limits on variables such as angle of attack, load factor, and pitch rate, the algorithm…
The application of reinforcement learning to safety-critical systems is limited by the lack of formal methods for verifying the robustness and safety of learned policies. This paper introduces a novel framework that addresses this gap by…
Deep reinforcement learning (DRL) has achieved tremendous success in many complex decision-making tasks of autonomous systems with high-dimensional state and/or action spaces. However, the safety and stability still remain major concerns…
We propose a reinforcement learning (RL) approach to model optimal exercise strategies for option-type products. We pursue the RL avenue in order to learn the optimal action-value function of the underlying stopping problem. In addition to…
This paper applies a reinforcement learning (RL) method to solve infinite horizon continuous-time stochastic linear quadratic problems, where drift and diffusion terms in the dynamics may depend on both the state and control. Based on…