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Offline Safe Reinforcement Learning (RL) seeks to address safety constraints by learning from static datasets and restricting exploration. However, these approaches heavily rely on the dataset and struggle to generalize to unseen scenarios…
This paper addresses the problem of maintaining safety during training in Reinforcement Learning (RL), such that the safety constraint violations are bounded at any point during learning. In a variety of RL applications the safety of the…
Reinforcement learning (RL) is a powerful machine learning technique that enables an intelligent agent to learn an optimal policy that maximizes the cumulative rewards in sequential decision making. Most of methods in the existing…
Reinforcement learning (RL) has recently proven itself as a powerful instrument for solving complex problems and even surpassed human performance in several challenging applications. This signifies that RL algorithms can be used in the…
Recently, there has been a surge in interest in safe and robust techniques within reinforcement learning (RL). Current notions of risk in RL fail to capture the potential for systemic failures such as abrupt stoppages from system failures…
This work contributes a novel deep navigation policy that enables collision-free flight of aerial robots based on a modular approach exploiting deep collision encoding and reinforcement learning. The proposed solution builds upon a deep…
This paper presents a comprehensive survey of Federated Reinforcement Learning (FRL), an emerging and promising field in Reinforcement Learning (RL). Starting with a tutorial of Federated Learning (FL) and RL, we then focus on the…
Reinforcement learning (RL) is a control approach that can handle nonlinear stochastic optimal control problems. However, despite the promise exhibited, RL has yet to see marked translation to industrial practice primarily due to its…
Deep reinforcement learning (RL) is an optimization-driven framework for producing control strategies for general dynamical systems without explicit reliance on process models. Good results have been reported in simulation. Here we…
We present a case for the use of Reinforcement Learning (RL) for the design of physics instrument as an alternative to gradient-based instrument-optimization methods. It's applicability is demonstrated using two empirical studies. One is…
This dissertation investigates how reinforcement learning (RL) methods can be designed to be safe, sample-efficient, and robust. Framed through the unifying perspective of contextual-bandit RL, the work addresses two major application…
Collaborative autonomous multi-agent systems covering a specified area have many potential applications, such as UAV search and rescue, forest fire fighting, and real-time high-resolution monitoring. Traditional approaches for such coverage…
This paper presents a hybrid approach that integrates trajectory optimization (TO) and reinforcement learning (RL) for motion planning and control of free-flying multi-arm robots in on-orbit servicing scenarios. The proposed system…
Cyber-Physical Systems (CPS) often leverage Reinforcement Learning (RL) techniques to adapt dynamically to changing environments and optimize performance. However, it is challenging to construct safety cases for RL components. We therefore…
Reinforcement Learning (RL), a subfield of Artificial Intelligence (AI), focuses on training agents to make decisions by interacting with their environment to maximize cumulative rewards. This paper provides an overview of RL, covering its…
Reinforcement learning is of increasing importance in the field of robot control and simulation plays a~key role in this process. In the unmanned aerial vehicles (UAVs, drones), there is also an increase in the number of published…
Quadrotor unmanned aerial vehicles (UAVs) are increasingly deployed in complex missions that demand reliable autonomous navigation and robust obstacle avoidance. However, traditional modular pipelines often incur cumulative latency, whereas…
Reinforcement learning (RL) problems are fundamental in online decision-making and have been instrumental in finding an optimal policy for Markov decision processes (MDPs). Function approximations are usually deployed to handle large or…
With the wide application of deep reinforcement learning (DRL) techniques in complex fields such as autonomous driving, intelligent manufacturing, and smart healthcare, how to improve its security and robustness in dynamic and changeable…
Reinforcement learning (RL) has demonstrated the ability to maintain the plasticity of the policy throughout short-term training in aerial robot control. However, these policies have been shown to loss of plasticity when extended to…