Related papers: Simplex-enabled Safe Continual Learning Machine

This paper proposes a safe reinforcement learning (RL) framework based on forward-invariance-induced action-space design. The control problem is cast as a Markov decision process, but instead of relying on runtime shielding or penalty-based…

Safety is the major consideration in controlling complex dynamical systems using reinforcement learning (RL), where the safety certificate can provide provable safety guarantee. A valid safety certificate is an energy function indicating…

Deep Reinforcement Learning (DRL) has been applied successfully to many robotic applications. However, the large number of trials needed for training is a key issue. Most of existing techniques developed to improve training efficiency (e.g.…

Continual learning refers to the ability of a biological or artificial system to seamlessly learn from continuous streams of information while preventing catastrophic forgetting, i.e., a condition in which new incoming information strongly…

The rapid advancement of machine learning (ML) has led to its increasing integration into cyber-physical systems (CPS) across diverse domains. While CPS offer powerful capabilities, incorporating ML components introduces significant safety…

Continual learning (CL) is a branch of machine learning that aims to enable agents to adapt and generalise previously learned abilities so that these can be reapplied to new tasks or environments. This is particularly useful in multi-task…

Large Language Models (LLMs) have been shown to be capable of performing high-level planning for long-horizon robotics tasks, yet existing methods require access to a pre-defined skill library (e.g. picking, placing, pulling, pushing,…

Integrating learning-based techniques, especially reinforcement learning, into robotics is promising for solving complex problems in unstructured environments. However, most existing approaches are trained in well-tuned simulators and…

Safe reinforcement learning (SafeRL) is a prominent paradigm for autonomous driving, where agents are required to optimize performance under strict safety requirements. This dual objective creates a fundamental tension, as overly…

Meta-learning is a general approach to equip machine learning models with the ability to handle few-shot scenarios when dealing with many tasks. Most existing meta-learning methods work based on the assumption that all tasks are of equal…

Reinforcement learning (RL) holds great promise for enabling autonomous acquisition of complex robotic manipulation skills, but realizing this potential in real-world settings has been challenging. We present a human-in-the-loop…

Robots in home environments need to be able to learn new skills continuously as data becomes available, becoming ever more capable over time while using as little real-world data as possible. However, traditional robot learning approaches…

This paper develops a novel machine learning-based framework using Semi-Supervised Multi-Task Learning (SS-MTL) for power system dynamic security assessment that is accurate, reliable, and aware of topological changes. The learning…

We report SInC (SNV, Indel and CNV) simulator and read generator, an open-source tool capable of simulating biological variants taking into account a platform-specific error model. SInC is capable of simulating and generating single- and…

In this paper, we propose Sparse Imitation Reinforcement Learning (SIRL), a hybrid end-to-end control policy that combines the sparse expert driving knowledge with reinforcement learning (RL) policy for autonomous driving (AD) task in CARLA…

Reinforcement learning (RL) has shown great promise in simulated environments, such as games, where failures have minimal consequences. However, the deployment of RL agents in real-world systems such as autonomous vehicles, robotics, UAVs,…

Increasing traffic demands, higher levels of automation, and communication enhancements provide novel design opportunities for future air traffic controllers (ATCs). This article presents a novel deep reinforcement learning (DRL) controller…

Reinforcement Learning (RL) is essentially a trial-and-error learning procedure which may cause unsafe behavior during the exploration-and-exploitation process. This hinders the application of RL to real-world control problems, especially…

Continual learning (CL) has emerged as an important avenue of research in recent years, at the intersection of Machine Learning (ML) and Human-Robot Interaction (HRI), to allow robots to continually learn in their environments over…

Mobile edge computing (MEC) is an emerging technology to transform the cloud-based computing services into the edge-based ones. Autonomous vehicular network (AVNET), as one of the most promising applications of MEC, can feature edge…