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This paper investigates the threat of backdoors in Deep Reinforcement Learning (DRL) agent policies and proposes a novel method for their detection at runtime. Our study focuses on elusive in-distribution backdoor triggers. Such triggers…
In recent years, reinforcement learning (RL) has shown remarkable success in robotics when a fast and accurate simulator is available for a given task. When using RL and simulation, more simulator realism is generally beneficial but becomes…
Multi-task reinforcement learning trains generalist policies that can execute multiple tasks. While recent years have seen significant progress, existing approaches rarely provide formal performance guarantees, which are indispensable when…
With the increasing system complexity and attack sophistication, the necessity of autonomous cyber defense becomes vivid for cyber and cyber-physical systems (CPSs). Many existing frameworks in the current state-of-the-art either rely on…
Reinforcement learning (RL) algorithms find applications in inventory control, recommender systems, vehicular traffic management, cloud computing and robotics. The real-world complications of many tasks arising in these domains makes them…
Complex systems show how surprising and beautiful phenomena can emerge from structures or agents following simple rules. With the recent success of deep reinforcement learning (RL), a natural path forward would be to use the capabilities of…
Reinforcement learning (RL) has become a foundational approach for enabling intelligent robotic behavior in dynamic and uncertain environments. This work presents an in-depth review of RL principles, advanced deep reinforcement learning…
Enabling humans to identify potential flaws in an agent's decision making is an important Explainable AI application. We consider identifying such flaws in a planning-based deep reinforcement learning (RL) agent for a complex real-time…
Reinforcement Learning (RL) is a learning paradigm concerned with learning to control a system so as to maximize an objective over the long term. This approach to learning has received immense interest in recent times and success manifests…
Multi-agent pathfinding (MAPF) is a critical field in many large-scale robotic applications, often being the fundamental step in multi-agent systems. The increasing complexity of MAPF in complex and crowded environments, however, critically…
Recent advances in Reinforcement Learning (RL) combined with Deep Learning (DL) have demonstrated impressive performance in complex tasks, including autonomous driving. The use of RL agents in autonomous driving leads to a smooth human-like…
Model-free Reinforcement Learning (RL) generally suffers from poor sample complexity, mostly due to the need to exhaustively explore the state-action space to find well-performing policies. On the other hand, we postulate that expert…
Deep reinforcement learning (RL) has achieved outstanding results in recent years, which has led a dramatic increase in the number of methods and applications. Recent works are exploring learning beyond single-agent scenarios and…
Reinforcement Learning (RL) is a powerful method for controlling dynamic systems, but its learning mechanism can lead to unpredictable actions that undermine the safety of critical systems. Here, we propose RL with Adaptive Regularization…
This paper studies the constrained/safe reinforcement learning (RL) problem with sparse indicator signals for constraint violations. We propose a model-based approach to enable RL agents to effectively explore the environment with unknown…
Deep Reinforcement Learning (DRL) has received a lot of attention from the research community in recent years. As the technology moves away from game playing to practical contexts, such as autonomous vehicles and robotics, it is crucial to…
The trial and error approach of reinforcement learning (RL) results in high performance across many complex tasks, but it can also lead to unsafe behavior. Run time assurance (RTA) approaches can be used to assure safety of the agent during…
This paper presents a secure-by-construction planning and control framework for multi-agent systems subject to linear temporal logic (LTL) specifications. The framework protects sensitive information from a passive intruder with partial…
This paper studies the control synthesis of motion planning subject to uncertainties. The uncertainties are considered in robot motions and environment properties, giving rise to the probabilistic labeled Markov decision process (PL-MDP). A…
Large language models (LLMs) are increasingly used as interactive agents, but optimizing them for long-horizon decision making remains difficult because current methods are largely purely reactive, which weakens both exploration and credit…