Related papers: Provable Traffic Rule Compliance in Safe Reinforce…
Self-driving vehicles have their own intelligence to drive on open roads. However, vehicle managers, e.g., government or industrial companies, still need a way to tell these self-driving vehicles what behaviors are encouraged or forbidden.…
Compliance with maritime traffic rules is essential for the safe operation of autonomous vessels, yet training reinforcement learning (RL) agents to adhere to them is challenging. The behavior of RL agents is shaped by the training…
Designing reliable decision strategies for autonomous urban driving is challenging. Reinforcement learning (RL) has been used to automatically derive suitable behavior in uncertain environments, but it does not provide any guarantee on the…
Vanilla Reinforcement Learning (RL) can efficiently solve complex tasks but does not provide any guarantees on system behavior. To bridge this gap, we propose a three-step safe RL procedure for continuous action spaces that provides…
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…
Autonomous vehicles inevitably encounter a vast array of scenarios in real-world environments. Addressing long-tail scenarios, particularly those involving intensive interactions with numerous traffic participants, remains one of the most…
Realistic traffic simulation is crucial for developing self-driving software in a safe and scalable manner prior to real-world deployment. Typically, imitation learning (IL) is used to learn human-like traffic agents directly from…
Autonomous vehicles need to be designed to abide by the same rules that humans follow. This is challenging, because traffic rules are fuzzy and not well defined, making them incomprehensible to machines. Satisfaction cannot be incorporated…
Reinforcement learning (RL) in autonomous driving employs a trial-and-error mechanism, enhancing robustness in unpredictable environments. However, crafting effective reward functions remains challenging, as conventional approaches rely…
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…
Autonomous systems are becoming ubiquitous and gaining momentum within the marine sector. Since the electrification of transport is happening simultaneously, autonomous marine vessels can reduce environmental impact, lower costs, and…
Traffic rules formalization is crucial for verifying the compliance and safety of autonomous vehicles (AVs). However, manual translation of natural language traffic rules as formal specification requires domain knowledge and logic…
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…
Fully autonomous vehicles promise enhanced safety and efficiency. However, ensuring reliable operation in challenging corner cases requires control algorithms capable of performing at the vehicle limits. We address this requirement by…
This paper presents the concept of an adaptive safe padding that forces Reinforcement Learning (RL) to synthesise optimal control policies while ensuring safety during the learning process. Policies are synthesised to satisfy a goal,…
This paper explores continuous-time control synthesis for target-driven navigation to satisfy complex high-level tasks expressed as linear temporal logic (LTL). We propose a model-free framework using deep reinforcement learning (DRL) where…
We investigate how formal temporal logic specifications can enhance the safety and robustness of reinforcement learning (RL) control in aerospace applications. Using the open source AeroBench F-16 simulation benchmark, we train a Proximal…
In many real-world applications, safety constraints for reinforcement learning (RL) algorithms are either unknown or not explicitly defined. We propose a framework that concurrently learns safety constraints and optimal RL policies in such…
Reinforcement learning (RL) has shown promise as a tool for engineering safe, ethical, or legal behaviour in autonomous agents. Its use typically relies on assigning punishments to state-action pairs that constitute unsafe or unethical…
Reinforcement Learning (RL) algorithms show amazing performance in recent years, but placing RL in real-world applications such as self-driven vehicles may suffer safety problems. A self-driven vehicle moving to a target position following…