Related papers: Assured Learning-enabled Autonomy: A Metacognitive…
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…
Applying reinforcement learning to autonomous driving has garnered widespread attention. However, classical reinforcement learning methods optimize policies by maximizing expected rewards but lack sufficient safety considerations, often…
Reinforcement learning (RL) agents typically optimize their policies by performing expensive backward passes to update their network parameters. However, some agents can solve new tasks without updating any parameters by simply conditioning…
Reinforcement Learning (RL) is a promising approach for solving various control, optimization, and sequential decision making tasks. However, designing reward functions for complex tasks (e.g., with multiple objectives and safety…
Reinforcement learning (RL) is effective in many robotic applications, but it requires extensive exploration of the state-action space, during which behaviors can be unsafe. This significantly limits its applicability to large robots with…
An emerging field of sequential decision problems is safe Reinforcement Learning (RL), where the objective is to maximize the reward while obeying safety constraints. Being able to handle constraints is essential for deploying RL agents in…
Ensuring the safety of reinforcement learning (RL) algorithms is crucial to unlock their potential for many real-world tasks. However, vanilla RL and most safe RL approaches do not guarantee safety. In recent years, several methods have…
Despite the significant advances in Deep Reinforcement Learning (RL) observed in the last decade, the amount of training experience necessary to learn effective policies remains one of the primary concerns in both simulated and real…
Reinforcement learning (RL) has shown to be a valuable tool in training neural networks for autonomous motion planning. The application of RL to a specific problem is dependent on a reward signal to quantify how good or bad a certain action…
Reinforcement learning (RL) is a promising optimal control technique for multi-energy management systems. It does not require a model a priori - reducing the upfront and ongoing project-specific engineering effort and is capable of learning…
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…
Recent research has turned to Reinforcement Learning (RL) to solve challenging decision problems, as an alternative to hand-tuned heuristics. RL can learn good policies without the need for modeling the environment's dynamics. Despite this…
Ensuring safety in dynamic multi-agent systems is challenging due to limited information about the other agents. Control Barrier Functions (CBFs) are showing promise for safety assurance but current methods make strong assumptions about…
Deep reinforcement learning (DRL) has achieved groundbreaking successes in a wide variety of robotic applications. A natural consequence is the adoption of this paradigm for safety-critical tasks, where human safety and expensive hardware…
The challenge of developing powerful and general Reinforcement Learning (RL) agents has received increasing attention in recent years. Much of this effort has focused on the single-agent setting, in which an agent maximizes a predefined…
Motion planning under uncertainty is one of the main challenges in developing autonomous driving vehicles. In this work, we focus on the uncertainty in sensing and perception, resulted from a limited field of view, occlusions, and sensing…
Machine and reinforcement learning (RL) are increasingly being applied to plan and control the behavior of autonomous systems interacting with the physical world. Examples include self-driving vehicles, distributed sensor networks, and…
Reinforcement learning (RL) is an appealing paradigm for training intelligent agents, enabling policy acquisition from the agent's own autonomously acquired experience. However, the training process of RL is far from automatic, requiring…
Solving long-horizon goal-conditioned tasks remains a significant challenge in reinforcement learning (RL). Hierarchical reinforcement learning (HRL) addresses this by decomposing tasks into more manageable sub-tasks, but the automatic…
Reinforcement Learning and, recently, Deep Reinforcement Learning are popular methods for solving sequential decision-making problems modeled as Markov Decision Processes. RL modeling of a problem and selecting algorithms and…