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Reinforcement Learning (RL) heavily relies on the careful design of the reward function. However, accurately assigning rewards to each state-action pair in Long-Term Reinforcement Learning (LTRL) tasks remains a significant challenge. As a…

Recommender systems have been successfully used in many domains with the help of machine learning algorithms. However, such applications tend to use multi-dimensional user data, which has raised widespread concerns about the breach of users…

Humans excel in navigating diverse, complex environments with agile motor skills, exemplified by parkour practitioners performing dynamic maneuvers, such as climbing up walls and jumping across gaps. Reproducing these agile movements with…

Dexterous multi-fingered robotic hands can perform a wide range of manipulation skills, making them an appealing component for general-purpose robotic manipulators. However, such hands pose a major challenge for autonomous control, due to…

Over the years, complex control approaches have been developed to control the motion of a bicycle. Reinforcement Learning (RL), a branch of machine learning, promises easy deployment of so-called agents. Deployed agents are increasingly…

This study introduces a novel approach to autonomous motion planning, informing an analytical algorithm with a reinforcement learning (RL) agent within a Frenet coordinate system. The combination directly addresses the challenges of…

We address the personalized policy learning problem using longitudinal mobile health application usage data. Personalized policy represents a paradigm shift from developing a single policy that may prescribe personalized decisions by…

Preference-based Reinforcement Learning (PbRL) methods provide a solution to avoid reward engineering by learning reward models based on human preferences. However, poor feedback- and sample- efficiency still remain the problems that hinder…

Purpose: This study aims to address the challenges of controlling unstable and nonlinear systems by proposing an adaptive PID controller based on predictive reinforcement learning (PRL-PID), where the PRL-PID combines the advantages of both…

Recent global estimates suggest that as many as 2.41 billion individuals have health conditions that would benefit from rehabilitation services. Home-based Physical Therapy (PT) faces significant challenges in providing interactive feedback…

Preference-based reinforcement learning (RL) has shown potential for teaching agents to perform the target tasks without a costly, pre-defined reward function by learning the reward with a supervisor's preference between the two agent…

Learning from visual observations is a fundamental yet challenging problem in Reinforcement Learning (RL). Although algorithmic advances combined with convolutional neural networks have proved to be a recipe for success, current methods are…

The provision of robotic assistance during motor training has proven to be effective in enhancing motor learning in some healthy trainee groups as well as patients. Personalizing such robotic assistance can help further improve motor…

Human Activity Recognition~(HAR) is the classification of human movement, captured using one or more sensors either as wearables or embedded in the environment~(e.g. depth cameras, pressure mats). State-of-the-art methods of HAR rely on…

Deep reinforcement learning (deep RL) has been successful in learning sophisticated behaviors automatically; however, the learning process requires a huge number of trials. In contrast, animals can learn new tasks in just a few trials,…

Accurate risk quantification and reachability analysis are crucial for safe control and learning, but sampling from rare events, risky states, or long-term trajectories can be prohibitively costly. Motivated by this, we study how to…

Robotic manipulation holds the potential to replace humans in the execution of tedious or dangerous tasks. However, control-based approaches are not suitable due to the difficulty of formally describing open-world manipulation in reality,…

Reinforcement learning (RL) has achieved remarkable success in real-world decision-making across diverse domains, including gaming, robotics, online advertising, public health, and natural language processing. Despite these advances, a…

Artificial limbs are sophisticated devices to assist people with tasks of daily living. Despite advanced robotic prostheses demonstrating similar motion capabilities to biological limbs, users report them difficult and non-intuitive to use.…

Preference-based Reinforcement Learning (PbRL) has made significant strides in single-agent settings, but has not been studied for multi-agent frameworks. On the other hand, modeling cooperation between multiple agents, specifically,…