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Multi-task representation learning (MTRL) is an approach that learns shared latent representations across related tasks, facilitating collaborative learning that improves the overall learning efficiency. This paper studies MTRL for…
We propose a novel generalization of constrained Markov decision processes (CMDPs) that we call the \emph{semi-infinitely constrained Markov decision process} (SICMDP). Particularly, we consider a continuum of constraints instead of a…
This paper addresses the problem of designing control policies for agents with unknown stochastic dynamics and control objectives specified using Linear Temporal Logic (LTL). Recent Deep Reinforcement Learning (DRL) algorithms have aimed to…
The continuous dynamical system approach to deep learning is explored in order to devise alternative frameworks for training algorithms. Training is recast as a control problem and this allows us to formulate necessary optimality conditions…
The constrained Markov decision process (CMDP) framework emerges as an important reinforcement learning approach for imposing safety or other critical objectives while maximizing cumulative reward. However, the current understanding of how…
We consider a discounted cost constrained Markov decision process (CMDP) policy optimization problem, in which an agent seeks to maximize a discounted cumulative reward subject to a number of constraints on discounted cumulative utilities.…
Reinforcement learning (RL) is a fundamental framework for sequential decision-making, in which an agent learns an optimal policy through interactions with an unknown environment. In settings with function approximation, many existing RL…
Learning from demonstration has proven effective in robotics for acquiring natural behaviors, such as stylistic motions and lifelike agility, particularly when explicitly defining style-oriented reward functions is challenging. Synthesizing…
In this paper, we study multistage stochastic mixed-integer nonlinear programs (MS-MINLP). This general class of problems encompasses, as important special cases, multistage stochastic convex optimization with non-Lipschitzian value…
We study infinite-horizon average-reward constrained Markov decision processes (CMDPs) under the weakly communicating assumption. Our contributions are twofold. First, we establish strong duality for weakly communicating average-reward…
The state-of-the-art multi-agent reinforcement learning (MARL) methods have provided promising solutions to a variety of complex problems. Yet, these methods all assume that agents perform synchronized primitive-action executions so that…
We consider online learning for episodic stochastically constrained Markov decision processes (CMDPs), which plays a central role in ensuring the safety of reinforcement learning. Here the loss function can vary arbitrarily across the…
This paper addresses the problem of learning control policies for mobile robots, modeled as unknown Markov Decision Processes (MDPs), that are tasked with temporal logic missions, such as sequencing, coverage, or surveillance. The MDP…
As Deep Neural Network (DNN) inference becomes increasingly prevalent on edge and mobile platforms, critical challenges emerge in privacy protection, resource constraints, and dynamic model deployment. This paper proposes a privacy-aware…
We consider the problem of constrained Markov Decision Process (CMDP) where an agent interacts with a unichain Markov Decision Process. At every interaction, the agent obtains a reward. Further, there are $K$ cost functions. The agent aims…
In many sequential decision-making problems, the goal is to optimize a utility function while satisfying a set of constraints on different utilities. This learning problem is formalized through Constrained Markov Decision Processes (CMDPs).…
The incorporation of macro-actions (temporally extended actions) into multi-agent decision problems has the potential to address the curse of dimensionality associated with such decision problems. Since macro-actions last for stochastic…
Autocurricular training is an important sub-area of multi-agent reinforcement learning~(MARL) that allows multiple agents to learn emergent skills in an unsupervised co-evolving scheme. The robotics community has experimented autocurricular…
We present a model-free reinforcement learning algorithm to find an optimal policy for a finite-horizon Markov decision process while guaranteeing a desired lower bound on the probability of satisfying a signal temporal logic (STL)…
Multi-user delay constrained scheduling is important in many real-world applications including wireless communication, live streaming, and cloud computing. Yet, it poses a critical challenge since the scheduler needs to make real-time…