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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…

Deep reinforcement learning (DRL) breaks through the bottlenecks of traditional reinforcement learning (RL) with the help of the perception capability of deep learning and has been widely applied in real-world problems.While model-free RL,…

Model-free reinforcement learning (RL) can be used to learn effective policies for complex tasks, such as Atari games, even from image observations. However, this typically requires very large amounts of interaction -- substantially more,…

Legged locomotion in unstructured environments demands not only high-performance control policies but also formal guarantees to ensure robustness under perturbations. Control methods often require carefully designed reference trajectories,…

The goal of reinforcement learning (RL) is to let an agent learn an optimal control policy in an unknown environment so that future expected rewards are maximized. The model-free RL approach directly learns the policy based on data samples.…

Deep reinforcement learning (DRL) demonstrates its potential in learning a model-free navigation policy for robot visual navigation. However, the data-demanding algorithm relies on a large number of navigation trajectories in training.…

Care-giving and assistive robotics, driven by advancements in AI, offer promising solutions to meet the growing demand for care, particularly in the context of increasing numbers of individuals requiring assistance. This creates a pressing…

Many real-world sequential decision making problems are partially observable by nature, and the environment model is typically unknown. Consequently, there is great need for reinforcement learning methods that can tackle such problems given…

On-policy reinforcement learning (RL) algorithms have demonstrated great potential in robotic control, where effective exploration is crucial for efficient and high-quality policy learning. However, how to encourage the agent to explore the…

Deep reinforcement learning (RL) agents are able to learn contact-rich manipulation tasks by maximizing a reward signal, but require large amounts of experience, especially in environments with many obstacles that complicate exploration. In…

Reward-free reinforcement learning (RL) considers the setting where the agent does not have access to a reward function during exploration, but must propose a near-optimal policy for an arbitrary reward function revealed only after…

Modern deep reinforcement learning (DRL) methods have made significant advances in handling continuous action spaces. However, real-world control systems, especially those requiring precise and reliable performance, often demand…

Current deep reinforcement learning (RL) approaches incorporate minimal prior knowledge about the environment, limiting computational and sample efficiency. \textit{Objects} provide a succinct and causal description of the world, and many…

Dynamic portfolio optimization is the process of sequentially allocating wealth to a collection of assets in some consecutive trading periods, based on investors' return-risk profile. Automating this process with machine learning remains a…

Deep reinforcement learning algorithms can perform poorly in real-world tasks due to the discrepancy between source and target environments. This discrepancy is commonly viewed as the disturbance in transition dynamics. Many existing…

Offline reinforcement learning can enable policy learning from pre-collected, sub-optimal datasets without online interactions. This makes it ideal for real-world robots and safety-critical scenarios, where collecting online data or expert…

Reinforcement learning (RL) algorithms update an agent's parameters according to one of several possible rules, discovered manually through years of research. Automating the discovery of update rules from data could lead to more efficient…

High-dimensional always-changing environments constitute a hard challenge for current reinforcement learning techniques. Artificial agents, nowadays, are often trained off-line in very static and controlled conditions in simulation such…

Online model-free reinforcement learning (RL) methods with continuous actions are playing a prominent role when dealing with real-world applications such as Robotics. However, when confronted to non-stationary environments, these methods…

Reinforcement Learning (RL) has achieved remarkable success in sequential decision tasks. However, recent studies have revealed the vulnerability of RL policies to different perturbations, raising concerns about their effectiveness and…