Related papers: Reinforcement Learning for Safety Testing: Lessons…
Practical application of Reinforcement Learning (RL) often involves risk considerations. We study a generalized approximation scheme for risk measures, based on Monte-Carlo simulations, where the risk measures need not necessarily be…
Reinforcement learning (RL) has proven its worth in a series of artificial domains, and is beginning to show some successes in real-world scenarios. However, much of the research advances in RL are hard to leverage in real-world systems due…
Reinforcement learning (RL) algorithms can achieve state-of-the-art performance in decision-making and continuous control tasks. However, applying RL algorithms on safety-critical systems still needs to be well justified due to the…
Reinforcement Learning (RL) has shown promise in various robotics applications, yet its deployment on real systems is still limited due to safety and operational constraints. The safe RL field has gained considerable attention in recent…
Industrial human-robot collaborative systems must be validated thoroughly with regard to safety. The sooner potential hazards for workers can be exposed, the less costly is the implementation of necessary changes. Due to the complexity of…
Deep reinforcement learning (RL) has shown promising results in robot motion planning with first attempts in human-robot collaboration (HRC). However, a fair comparison of RL approaches in HRC under the constraint of guaranteed safety is…
In the long term, reinforcement learning (RL) is considered by many AI theorists to be the most promising path to artificial general intelligence. This places RL practitioners in a position to design systems that have never existed before…
End-to-end models for autonomous driving hold the promise of learning complex behaviors directly from sensor data, but face critical challenges in safety and handling long-tail events. Reinforcement Learning (RL) offers a promising path to…
In recent years, control under urban intersection scenarios becomes an emerging research topic. In such scenarios, the autonomous vehicle confronts complicated situations since it must deal with the interaction with social vehicles timely…
Recent breakthroughs both in reinforcement learning and trajectory optimization have made significant advances towards real world robotic system deployment. Reinforcement learning (RL) can be applied to many problems without needing any…
This thesis rigorously studies fundamental reinforcement learning (RL) methods in modern practical considerations, including robust RL, distributional RL, and offline RL with neural function approximation. The thesis first prepares the…
Reinforcement Learning (RL) algorithms have found limited success beyond simulated applications, and one main reason is the absence of safety guarantees during the learning process. Real world systems would realistically fail or break…
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…
This paper proposes a safe reinforcement learning (RL) framework based on forward-invariance-induced action-space design. The control problem is cast as a Markov decision process, but instead of relying on runtime shielding or penalty-based…
Reinforcement learning (RL) has recently been used for solving challenging decision-making problems in the context of automated driving. However, one of the main drawbacks of the presented RL-based policies is the lack of safety guarantees,…
We study reinforcement learning (RL) problems in which agents observe the reward or transition realizations at their current state before deciding which action to take. Such observations are available in many applications, including…
Autonomous-driving research has recently embraced deep Reinforcement Learning (RL) as a promising framework for data-driven decision making, yet a clear picture of how these algorithms are currently employed, benchmarked and evaluated is…
The use of Reinforcement Learning (RL) is still restricted to simulation or to enhance human-operated systems through recommendations. Real-world environments (e.g. industrial robots or power grids) are generally designed with safety…
Reinforcement Learning (RL) is an important machine learning paradigm for solving sequential decision-making problems. Recent years have witnessed remarkable progress in this field due to the rapid development of deep neural networks.…
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…