Related papers: Simplex-enabled Safe Continual Learning Machine

Everything else being equal, simpler models should be preferred over more complex ones. In reinforcement learning (RL), simplicity is typically quantified on an action-by-action basis -- but this timescale ignores temporal regularities,…

We present Security Relaxed Separation Logic (SecRSL), a separation logic for proving information-flow security of C11 programs in the Release-Acquire fragment with relaxed accesses. SecRSL is the first security logic that (1) supports…

In robotics, contemporary strategies are learning-based, characterized by a complex black-box nature and a lack of interpretability, which may pose challenges in ensuring stability and safety. To address these issues, we propose integrating…

Lifelong learning aims to preserve knowledge acquired from previous tasks while incorporating knowledge from a sequence of new tasks. However, most prior work explores only streams of homogeneous tasks (\textit{e.g.}, only classification…

Safe navigation in complex environments remains a central challenge for reinforcement learning (RL) in robotics. This paper introduces Continuous Space-Time Empowerment for Physics-informed (C-STEP) safe RL, a novel measure of agent-centric…

In this paper, we propose SACHER (soft actor-critic (SAC) with hindsight experience replay (HER)), which constitutes a class of deep reinforcement learning (DRL) algorithms. SAC is known as an off-policy model-free DRL algorithm based on…

Self-play with large language models has emerged as a promising paradigm for achieving self-improving artificial intelligence. However, existing self-play frameworks often suffer from optimization instability, due to (i) non-stationary…

Human-Robot Collaboration (HRC) is rapidly replacing the traditional application of robotics in the manufacturing industry. Robots and human operators no longer have to perform their tasks in segregated areas and are capable of working in…

An oft-ignored challenge of real-world reinforcement learning is that the real world does not pause when agents make learning updates. As standard simulated environments do not address this real-time aspect of learning, most available…

Stability and safety are critical properties for successful deployment of automatic control systems. As a motivating example, consider autonomous mobile robot navigation in a complex environment. A control design that generalizes to…

Human-robot collaborations have been recognized as an essential component for future factories. It remains challenging to properly design the behavior of those co-robots. Those robots operate in dynamic uncertain environment with limited…

Meta-reinforcement learning (Meta-RL) facilitates rapid adaptation to unseen tasks but faces challenges in long-horizon environments. Skill-based approaches tackle this by decomposing state-action sequences into reusable skills and…

In recent years, many practitioners in quantitative finance have attempted to use Deep Reinforcement Learning (DRL) to build better quantitative trading (QT) strategies. Nevertheless, many existing studies fail to address several serious…

This paper presents a safe imitation learning approach for autonomous vehicle driving, with attention on real-life human driving data and experimental validation. In order to increase occupant's acceptance and gain drivers' trust, the…

Deep reinforcement learning (RL) has shown promising results in robot motion planning with first attempts in human-robot collaboration (HRC). However, a fair comparison of RL approaches in HRC under the constraint of guaranteed safety is…

Complex industrial systems are continuously monitored by a large number of heterogeneous sensors. The diversity of their operating conditions and the possible fault types make it impossible to collect enough data for learning all the…

Reinforcement learning (RL) has revolutionized decision-making across a wide range of domains over the past few decades. Yet, deploying RL policies in real-world scenarios presents the crucial challenge of ensuring safety. Traditional safe…

Quadruped robots are designed to achieve agile and robust locomotion by drawing inspiration from legged animals. However, most existing control methods for quadruped robots lack a key capacity observed in animals: the ability to exhibit…

Programmable Logic Controllers (PLCs) provide a prominent choice of implementation platform for safety-critical industrial control systems. Formal verification provides ways of establishing correctness guarantees, which can be quite…

Although Deep Reinforcement Learning (DRL) and Large Language Models (LLMs) each show promise in addressing decision-making challenges in autonomous driving, DRL often suffers from high sample complexity, while LLMs have difficulty ensuring…