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We present a reinforcement learning (RL) framework that enables quadrupedal robots to perform soccer goalkeeping tasks in the real world. Soccer goalkeeping using quadrupeds is a challenging problem, that combines highly dynamic locomotion…

Offline reinforcement learning (RL) aims to learn from historical data without requiring (costly) access to the environment. To facilitate offline RL research, we previously introduced NeoRL, which highlighted that datasets from real-world…

This study presents GreenLight-Gym, a new, fast, open-source benchmark environment for developing reinforcement learning (RL) methods in greenhouse crop production control. Built on the state-of-the-art GreenLight model, it features a…

Reinforcement learning (RL) is a popular machine learning paradigm for game playing, robotics control, and other sequential decision tasks. However, RL agents often have long learning times with high data requirements because they begin by…

Controlling soccer robots involves multi-time-scale decision-making, which requires balancing long-term tactical planning and short-term motion execution. Traditional end-to-end reinforcement learning (RL) methods face challenges in complex…

This paper presents a comprehensive benchmarking suite tailored to offline safe reinforcement learning (RL) challenges, aiming to foster progress in the development and evaluation of safe learning algorithms in both the training and…

This study presents a benchmark for evaluating action-constrained reinforcement learning (RL) algorithms. In action-constrained RL, each action taken by the learning system must comply with certain constraints. These constraints are crucial…

Reinforcement Learning (RL) has been shown to be effective in many scenarios. However, it typically requires the exploration of a sufficiently large number of state-action pairs, some of which may be unsafe. Consequently, its application to…

Recent advances in behavior cloning (BC) have enabled impressive visuomotor control policies. However, these approaches are limited by the quality of human demonstrations, the manual effort required for data collection, and the diminishing…

Research in deep reinforcement learning (RL) has coalesced around improving performance on benchmarks like the Arcade Learning Environment. However, these benchmarks conspicuously miss important characteristics like abrupt context-dependent…

Reinforcement Learning (RL) has achieved state-of-the-art results in domains such as robotics and games. We build on this previous work by applying RL algorithms to a selection of canonical online stochastic optimization problems with a…

Reinforcement learning (RL) algorithms have been successfully applied to control tasks associated with unmanned aerial vehicles and robotics. In recent years, safe RL has been proposed to allow the safe execution of RL algorithms in…

Reinforcement learning (RL) has proven effective for AI-based building energy management. However, there is a lack of flexible framework to implement RL across various control problems in building energy management. To address this gap, we…

Many roboticists dream of presenting a robot with a task in the evening and returning the next morning to find the robot capable of solving the task. What is preventing us from achieving this? Sim-to-real reinforcement learning (RL) has…

This paper is a study of reinforcement learning (RL) as an optimal-control strategy for control of nonlinear valves. It is evaluated against the PID (proportional-integral-derivative) strategy, using a unified framework. RL is an autonomous…

ROBEL is an open-source platform of cost-effective robots designed for reinforcement learning in the real world. ROBEL introduces two robots, each aimed to accelerate reinforcement learning research in different task domains: D'Claw is a…

Training reinforcement learning agents at solving a given task is highly dependent on identifying optimal sets of hyperparameters and selecting suitable environment input / output configurations. This tedious process could be eased with a…

Existing studies on constrained reinforcement learning (RL) may obtain a well-performing policy in the training environment. However, when deployed in a real environment, it may easily violate constraints that were originally satisfied…

The increasing number of satellites and orbital debris has made space congestion a critical issue, threatening satellite safety and sustainability. Challenges such as collision avoidance, station-keeping, and orbital maneuvering require…

This paper delves into applying reinforcement learning (RL) in strategy games, particularly those characterized by parity challenges, as seen in specific positions of Go and Chess and a broader range of impartial games. We propose a…