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This paper demonstrates that continual relearning of control policies using incremental deep reinforcement learning (RL) can improve policy learning for non-stationary processes. We demonstrate this approach for a data-driven 'smart…

A practical approach to robot reinforcement learning is to first collect a large batch of real or simulated robot interaction data, using some data collection policy, and then learn from this data to perform various tasks, using offline…

The problem of multi-robot navigation of connectivity maintenance is challenging in multi-robot applications. This work investigates how to navigate a multi-robot team in unknown environments while maintaining connectivity. We propose a…

While reinforcement learning (RL) holds great potential for decision making in the real world, it suffers from a number of unique difficulties which often need specific consideration. In particular: it is highly non-stationary; suffers from…

Reinforcement learning (RL) in continuous state-action spaces remains challenging in scientific computing due to poor sample efficiency and lack of pathwise physical consistency. We introduce Differential Reinforcement Learning…

The field of reinforcement learning (RL) is concerned with algorithms for learning optimal policies in unknown stochastic environments. Programmatic RL studies representations of policies as programs, meaning involving higher order…

Flexible-joint manipulators are governed by complex nonlinear dynamics, defining a challenging control problem. In this work, we propose an approach to learn an outer-loop joint trajectory tracking controller with deep reinforcement…

Unmanned Aerial Vehicles (UAVs) are increasingly used in automated inspection, delivery, and navigation tasks that require reliable autonomy. This project develops a reinforcement learning (RL) approach to enable a single UAV to…

The last half-decade has seen a steep rise in the number of contributions on safe learning methods for real-world robotic deployments from both the control and reinforcement learning communities. This article provides a concise but holistic…

End-to-end learning robotic manipulation with high data efficiency is one of the key challenges in robotics. The latest methods that utilize human demonstration data and unsupervised representation learning has proven to be a promising…

Reinforcement Learning (RL) has emerged as a powerful paradigm in Artificial Intelligence (AI), enabling agents to learn optimal behaviors through interactions with their environments. Drawing from the foundations of trial and error, RL…

Precise robotic manipulation skills are desirable in many industrial settings, reinforcement learning (RL) methods hold the promise of acquiring these skills autonomously. In this paper, we explicitly consider incorporating operational…

Electric motors are crucial in many applications, but traditional control methods struggle with nonlinearities, parameter uncertainties, and external disturbances. Reinforcement Learning (RL) offers a promising solution as a data-driven…

Reinforcement learning (RL) commonly relies on scalar rewards with limited ability to express temporal, conditional, or safety-critical goals, and can lead to reward hacking. Temporal logic expressible via the more general class of…

This paper studies the continuous-time reinforcement learning (RL) for optimal switching problems across multiple regimes. We consider a type of exploratory formulation under entropy regularization where the agent randomizes both the timing…

Deep Reinforcement Learning (RL) has been explored and verified to be effective in solving decision-making tasks in various domains, such as robotics, transportation, recommender systems, etc. It learns from the interaction with…

Imitation learning (IL) consists of a set of tools that leverage expert demonstrations to quickly learn policies. However, if the expert is suboptimal, IL can yield policies with inferior performance compared to reinforcement learning (RL).…

Trajectory Optimization (TO) and Reinforcement Learning (RL) offer complementary strengths for solving optimal control problems. TO efficiently computes locally optimal solutions but can struggle with non-convexity, while RL is more robust…

Transfer learning significantly accelerates the reinforcement learning process by exploiting relevant knowledge from previous experiences. The problem of optimally selecting source policies during the learning process is of great importance…

This paper investigates the use of Reinforcement Learning for the robust design of low-thrust interplanetary trajectories in presence of severe disturbances, modeled alternatively as Gaussian additive process noise, observation noise,…