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Deep reinforcement learning has recently made significant progress in solving computer games and robotic control tasks. A known problem, though, is that policies overfit to the training environment and may not avoid rare, catastrophic…
Safe reinforcement learning (RL) has achieved significant success on risk-sensitive tasks and shown promise in autonomous driving (AD) as well. Considering the distinctiveness of this community, efficient and reproducible baselines are…
Reinforcement Learning (RL) agents have great successes in solving tasks with large observation and action spaces from limited feedback. Still, training the agents is data-intensive and there are no guarantees that the learned behavior is…
Reinforcement Learning (RL) applications in real-world scenarios must prioritize safety and reliability, which impose strict constraints on agent behavior. Model-based RL leverages predictive world models for action planning and policy…
Reinforcement learning (RL) has achieved remarkable success in various robotic tasks; however, its deployment in real-world scenarios, particularly in contact-rich environments, often overlooks critical safety and stability aspects.…
Safe navigation is essential for autonomous systems operating in hazardous environments. Traditional planning methods excel at long-horizon tasks but rely on a predefined graph with fixed distance metrics. In contrast, safe Reinforcement…
Training Reinforcement Learning (RL) agents in high-stakes applications might be too prohibitive due to the risk associated to exploration. Thus, the agent can only use data previously collected by safe policies. While previous work…
Traditional reinforcement learning methods optimize agents without considering safety, potentially resulting in unintended consequences. In this paper, we propose an optimal actor-free policy that optimizes a risk-sensitive criterion based…
Model-free Reinforcement Learning (RL) offers an attractive approach to learn control policies for high-dimensional systems, but its relatively poor sample complexity often forces training in simulated environments. Even in simulation,…
This paper presents a risk-aware safe reinforcement learning (RL) control design for stochastic discrete-time linear systems. Rather than using a safety certifier to myopically intervene with the RL controller, a risk-informed safe…
Safe reinforcement learning (SafeRL) is a prominent paradigm for autonomous driving, where agents are required to optimize performance under strict safety requirements. This dual objective creates a fundamental tension, as overly…
This paper focuses on finding reinforcement learning policies for control systems with hard state and action constraints. Despite its success in many domains, reinforcement learning is challenging to apply to problems with hard constraints,…
In this paper, we propose Sparse Imitation Reinforcement Learning (SIRL), a hybrid end-to-end control policy that combines the sparse expert driving knowledge with reinforcement learning (RL) policy for autonomous driving (AD) task in CARLA…
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…
Reinforcement learning has become an essential algorithm for generating complex robotic behaviors. However, to learn such behaviors, it is necessary to design a reward function that describes the task, which often consists of multiple…
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…
Safety is essential for reinforcement learning (RL) applied in the real world. Adding chance constraints (or probabilistic constraints) is a suitable way to enhance RL safety under uncertainty. Existing chance-constrained RL methods like…
Autonomous lane-change, a key feature of advanced driver-assistance systems, can enhance traffic efficiency and reduce the incidence of accidents. However, safe driving of autonomous vehicles remains challenging in complex environments. How…
Designing hierarchical reinforcement learning algorithms that exhibit safe behaviour is not only vital for practical applications but also, facilitates a better understanding of an agent's decisions. We tackle this problem in the options…
As reinforcement learning agents become increasingly integrated into complex, real-world environments, designing for safety becomes a critical consideration. We specifically focus on researching scenarios where agents can cause undesired…