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Deep reinforcement learning (DRL) has had success across various domains, but applying it to environments with constraints remains challenging due to poor sample efficiency and slow convergence. Recent literature explored incorporating…
Modern cyber-physical systems are becoming increasingly complex to model, thus motivating data-driven techniques such as reinforcement learning (RL) to find appropriate control agents. However, most systems are subject to hard constraints…
Reinforcement learning (RL) has achieved remarkable success in fields like robotics and autonomous driving, but adversarial attacks designed to mislead RL systems remain challenging. Existing approaches often rely on modifying the…
This paper presents a novel algorithm for the continuous control of dynamical systems that combines Trajectory Optimization (TO) and Reinforcement Learning (RL) in a single framework. The motivations behind this algorithm are the two main…
Reinforcement learning (RL) algorithms find applications in inventory control, recommender systems, vehicular traffic management, cloud computing and robotics. The real-world complications of many tasks arising in these domains makes them…
The emerging field of Reinforcement Learning (RL) has led to impressive results in varied domains like strategy games, robotics, etc. This handout aims to give a simple introduction to RL from control perspective and discuss three possible…
Reinforcement Learning (RL) offers a promising framework for autonomous driving by enabling agents to learn control policies through interaction with environments. However, large and high-dimensional action spaces often used to support…
In many applications of Reinforcement Learning (RL), it is critically important that the algorithm performs safely, such that instantaneous hard constraints are satisfied at each step, and unsafe states and actions are avoided. However,…
Reinforcement Learning (RL) is a popular machine learning paradigm where intelligent agents interact with the environment to fulfill a long-term goal. Driven by the resurgence of deep learning, Deep RL (DRL) has witnessed great success over…
Maneuver decision-making can be regarded as a Markov decision process and can be address by reinforcement learning. However, original reinforcement learning algorithms can hardly solve the maneuvering decision-making problem. One reason is…
In reward-poisoning attacks against reinforcement learning (RL), an attacker can perturb the environment reward $r_t$ into $r_t+\delta_t$ at each step, with the goal of forcing the RL agent to learn a nefarious policy. We categorize such…
We study a security threat to reinforcement learning where an attacker poisons the learning environment to force the agent into executing a target policy chosen by the attacker. As a victim, we consider RL agents whose objective is to find…
In real-world reinforcement learning (RL) systems, various forms of {\it impaired observability} can complicate matters. These situations arise when an agent is unable to observe the most recent state of the system due to latency or lossy…
Self-play, where the algorithm learns by playing against itself without requiring any direct supervision, has become the new weapon in modern Reinforcement Learning (RL) for achieving superhuman performance in practice. However, the…
The broader application of reinforcement learning (RL) is limited by challenges including data efficiency, generalization capability, and ability to learn in sparse-reward environments. Meta-learning has emerged as a promising approach to…
Safe reinforcement learning (RL) seeks to mitigate unsafe behaviors that arise from exploration during training by reducing constraint violations while maintaining task performance. Existing approaches typically rely on a single policy to…
Reinforcement learning (RL) algorithms can achieve state-of-the-art performance in decision-making and continuous control tasks. However, applying RL algorithms on safety-critical systems still needs to be well justified due to the…
Modeling of real-world biological multi-agents is a fundamental problem in various scientific and engineering fields. Reinforcement learning (RL) is a powerful framework to generate flexible and diverse behaviors in cyberspace; however,…
Model-free Reinforcement Learning (RL) generally suffers from poor sample complexity, mostly due to the need to exhaustively explore the state-action space to find well-performing policies. On the other hand, we postulate that expert…
Deep reinforcement learning (RL) policies are known to be vulnerable to adversarial perturbations to their observations, similar to adversarial examples for classifiers. However, an attacker is not usually able to directly modify another…