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Robust closed-loop locomotion remains challenging for soft quadruped robots due to high-dimensional dynamics, actuator hysteresis, and difficult-to-model contact interactions, while conventional proprioception provides limited information…

In risk-averse reinforcement learning (RL), the goal is to optimize some risk measure of the returns. A risk measure often focuses on the worst returns out of the agent's experience. As a result, standard methods for risk-averse RL often…

Soft robotic crawlers are mobile robots that utilize soft body deformability and compliance to achieve locomotion through surface contact. Designing control strategies for such systems is challenging due to model inaccuracies, sensor noise,…

Inverse Reinforcement Learning (IRL) is a powerful set of techniques for imitation learning that aims to learn a reward function that rationalizes expert demonstrations. Unfortunately, traditional IRL methods suffer from a computational…

In this paper, we study the problem of learning a repertoire of low-level skills from raw images that can be sequenced to complete long-horizon visuomotor tasks. Reinforcement learning (RL) is a promising approach for acquiring…

To create useful reinforcement learning (RL) agents, step zero is to design a suitable reward function that captures the nuances of the task. However, reward engineering can be a difficult and time-consuming process. Instead,…

We present the extension of the Remember and Forget for Experience Replay (ReF-ER) algorithm to Multi-Agent Reinforcement Learning (MARL). ReF-ER was shown to outperform state of the art algorithms for continuous control in problems ranging…

When learning to behave in a stochastic environment where safety is critical, such as driving a vehicle in traffic, it is natural for human drivers to plan fallback strategies as a backup to use if ever there is an unexpected change in the…

Aligning robot behavior with human preferences is crucial for deploying embodied AI agents in human-centered environments. A promising solution is interactive imitation learning from human intervention, where a human expert observes the…

Imitation learning methods seek to learn from an expert either through behavioral cloning (BC) of the policy or inverse reinforcement learning (IRL) of the reward. Such methods enable agents to learn complex tasks from humans that are…

To perform well, Deep Reinforcement Learning (DRL) methods require significant memory resources and computational time. Also, sometimes these systems need additional environment information to achieve a good reward. However, it is more…

Reinforcement learning (RL) has demonstrated impressive performance in legged locomotion over various challenging environments. However, due to the sim-to-real gap and lack of explainability, unconstrained RL policies deployed in the real…

Multi-Agent Experience Replay (MER) is a key component of off-policy reinforcement learning~(RL) algorithms. By remembering and reusing experiences from the past, experience replay significantly improves the stability of RL algorithms and…

Adaptive recovery from fall incidents are essential skills for the practical deployment of wheeled-legged robots, which uniquely combine the agility of legs with the speed of wheels for rapid recovery. However, traditional methods relying…

This paper presents a novel model-reference reinforcement learning algorithm for the intelligent tracking control of uncertain autonomous surface vehicles with collision avoidance. The proposed control algorithm combines a conventional…

Deep Reinforcement Learning (DRL) based navigation methods have demonstrated promising results for mobile robots, but suffer from limited action flexibility in confined spaces. Conventional DRL approaches predominantly learn forward-motion…

We introduce the Multiscale Experience Replay (MER) algorithm for solving a class of stochastic variational inequalities (VIs) in settings where samples are generated from a Markov chain and we have access to a memory buffer to store them.…

Most reinforcement learning (RL) algorithms assume online access to the environment, in which one may readily interleave updates to the policy with experience collection using that policy. However, in many real-world applications such as…

Experience replay is widely used to improve learning efficiency in reinforcement learning by leveraging past experiences. However, existing experience replay methods, whether based on uniform or prioritized sampling, often suffer from low…

Efficient utilization of the replay buffer plays a significant role in the off-policy actor-critic reinforcement learning (RL) algorithms used for model-free control policy synthesis for complex dynamical systems. We propose a method for…