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During initial iterations of training in most Reinforcement Learning (RL) algorithms, agents perform a significant number of random exploratory steps. In the real world, this can limit the practicality of these algorithms as it can lead to…
Recent studies in reinforcement learning (RL) have made significant progress by leveraging function approximation to alleviate the sample complexity hurdle for better performance. Despite the success, existing provably efficient algorithms…
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…
Safe Reinforcement Learning (Safe RL) aims to train an RL agent to maximize its performance in real-world environments while adhering to safety constraints, as exceeding safety violation limits can result in severe consequences. In this…
Reinforcement learning (RL) has revolutionized decision-making across a wide range of domains over the past few decades. Yet, deploying RL policies in real-world scenarios presents the crucial challenge of ensuring safety. Traditional safe…
Extrinsic calibration is essential for multi-sensor fusion, existing methods rely on structured targets or fully-excited data, limiting real-world applicability. Online calibration further suffers from weak excitation, leading to unreliable…
Reinforcement Learning (RL) is a promising approach for achieving autonomous driving due to robust decision-making capabilities. RL learns a driving policy through trial and error in traffic scenarios, guided by a reward function that…
Real-world reinforcement learning (RL) problems often demand that agents behave safely by obeying a set of designed constraints. We address the challenge of safe RL by coupling a safety guide based on model predictive control (MPC) with a…
Scaling test-time computation with reinforcement learning (RL) has emerged as a reliable path to improve large language models (LLM) reasoning ability. Yet, outcome-based reward often incentivizes models to be overconfident, leading to…
Vanilla Reinforcement Learning (RL) can efficiently solve complex tasks but does not provide any guarantees on system behavior. To bridge this gap, we propose a three-step safe RL procedure for continuous action spaces that provides…
The optimal operation of transportation systems is often susceptible to unexpected disruptions. Many established control strategies reliant on mathematical models can struggle with real-world disruptions, leading to significant divergence…
We present new algorithms for inverse reinforcement learning (IRL, or inverse optimal control) in convex optimization settings. We argue that finite-space IRL can be posed as a convex quadratic program under a Bayesian inference framework…
Models involving hybrid systems are versatile in their application but difficult to optimize efficiently due to their combinatorial nature. This work presents a method to cope with hybrid optimal control problems which, in contrast to…
Inverse reinforcement learning (IRL) addresses the problem of recovering a task description given a demonstration of the optimal policy used to solve such a task. The optimal policy is usually provided by an expert or teacher, making IRL…
Safety-critical applications require controllers/policies that can guarantee safety with high confidence. The control barrier function is a useful tool to guarantee safety if we have access to the ground-truth system dynamics. In practice,…
While the techniques in optimal control theory are often model-based, the policy optimization (PO) approach directly optimizes the performance metric of interest. Even though it has been an essential approach for reinforcement learning…
Despite the tremendous success of Reinforcement Learning (RL) algorithms in simulation environments, applying RL to real-world applications still faces many challenges. A major concern is safety, in another word, constraint satisfaction.…
Model-free deep reinforcement learning (RL) has demonstrated its superiority on many complex sequential decision-making problems. However, heavy dependence on dense rewards and high sample-complexity impedes the wide adoption of these…
Accurate, computationally efficient, and adaptive vehicle models are essential for autonomous vehicle control. Hybrid models that combine a nominal model with a Gaussian Process (GP)-based residual model have emerged as a promising…
Typical reinforcement learning (RL) methods show limited applicability for real-world industrial control problems because industrial systems involve various constraints and simultaneously require continuous and discrete control. To overcome…