Related papers: Adaptive Primal-Dual Method for Safe Reinforcement…
In this work, we revisit a classical incremental implementation of the primal-descent dual-ascent gradient method used for the solution of equality constrained optimization problems. We provide a short proof that establishes the linear…
The Primal-Dual hybrid gradient (PDHG) method is a powerful optimization scheme that breaks complex problems into simple sub-steps. Unfortunately, PDHG methods require the user to choose stepsize parameters, and the speed of convergence is…
We examine online safe multi-agent reinforcement learning using constrained Markov games in which agents compete by maximizing their expected total rewards under a constraint on expected total utilities. Our focus is confined to an episodic…
This thesis work presents a more efficient and effective approach to training control-related tasks for humanoid robots using Reinforcement Learning (RL). The traditional RL methods are limited in adapting to real-world environments,…
This paper targets the efficient construction of a safety shield for decision making in scenarios that incorporate uncertainty. Markov decision processes (MDPs) are prominent models to capture such planning problems. Reinforcement learning…
In this paper, we study saddle point (SP) problems, focusing on convex-concave optimization involving functions that satisfy either two-sided quadratic functional growth (QFG) or two-sided quadratic gradient growth (QGG)--novel conditions…
Model predictive control (MPC) is widely used for motion planning, particularly in autonomous driving. Real-time capability of the planner requires utilizing convex approximation of optimal control problems (OCPs) for the planner. However,…
This study is aimed at addressing the problem of fault tolerance of quadruped robots to actuator failure, which is critical for robots operating in remote or extreme environments. In particular, an adaptive curriculum reinforcement learning…
Meta Reinforcement Learning (Meta-RL) has seen substantial advancements recently. In particular, off-policy methods were developed to improve the data efficiency of Meta-RL techniques. \textit{Probabilistic embeddings for actor-critic RL}…
Continual learning is inherently a constrained learning problem. The goal is to learn a predictor under a no-forgetting requirement. Although several prior studies formulate it as such, they do not solve the constrained problem explicitly.…
Safe reinforcement learning (RL) is crucial for real-world applications, and multi-agent interactions introduce additional safety challenges. While Probabilistic Logic Shields (PLS) has been a powerful proposal to enforce safety in…
The optimal execution problem has always been a continuously focused research issue, and many reinforcement learning (RL) algorithms have been studied. In this article, we consider the execution problem of targeting the volume weighted…
Reinforcement Learning (RL) based methods have seen their paramount successes in solving serial decision-making and control problems in recent years. For conventional RL formulations, Markov Decision Process (MDP) and state-action-value…
We consider large-scale Markov decision processes with an unknown cost function and address the problem of learning a policy from a finite set of expert demonstrations. We assume that the learner is not allowed to interact with the expert…
Reinforcement Learning (RL) agents in the real world must satisfy safety constraints in addition to maximizing a reward objective. Model-based RL algorithms hold promise for reducing unsafe real-world actions: they may synthesize policies…
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 is concerned with augmented Lagrangian methods for the treatment of fully convex composite optimization problems. We extend the classical relationship between augmented Lagrangian methods and the proximal point algorithm to the…
State-of-the-art deep neural networks are sensitive to small input perturbations. Since the discovery of this intriguing vulnerability, many defence methods have been proposed that attempt to improve robustness to adversarial noise. Fast…
Recently, safe reinforcement learning (RL) with the actor-critic structure for continuous control tasks has received increasing attention. It is still challenging to learn a near-optimal control policy with safety and convergence…
Best subset selection is considered the `gold standard' for many sparse learning problems. A variety of optimization techniques have been proposed to attack this non-smooth non-convex problem. In this paper, we investigate the dual forms of…