Related papers: RSL-RL: A Learning Library for Robotics Research

Designing Reinforcement Learning (RL) solutions for real-life problems remains a significant challenge. A major area of concern is safety. "Shielding" is a popular technique to enforce safety in RL by turning user-defined safety…

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…

The application of rule-based reinforcement learning (RL) to multimodal large language models (MLLMs) introduces unique challenges and potential deviations from findings in text-only domains, particularly for perception-heavy tasks. This…

Reinforcement learning (RL) has recently shown strong potential in improving the reasoning capabilities of large language models and is now being actively extended to vision-language models (VLMs). However, existing RL applications in VLMs…

Safety comes first in many real-world applications involving autonomous agents. Despite a large number of reinforcement learning (RL) methods focusing on safety-critical tasks, there is still a lack of high-quality evaluation of those…

In this paper, we introduce a package for semi-supervised learning research in the R programming language called RSSL. We cover the purpose of the package, the methods it includes and comment on their use and implementation. We then show,…

Reinforcement Learning (RL) allows learning non-trivial robot control laws purely from data. However, many successful applications of RL have relied on ad-hoc regularizations, such as hand-crafted curricula, to regularize the learning…

This work investigates the potential of Reinforcement Learning (RL) to tackle robot motion planning challenges in the dynamic RoboCup Small Size League (SSL). Using a heuristic control approach, we evaluate RL's effectiveness in…

This paper introduces the first, open source software library for Constraint Consistent Learning (CCL). It implements a family of data-driven methods that are capable of (i) learning state-independent and -dependent constraints, (ii)…

The exponential growth of data-intensive applications has placed unprecedented demands on modern storage systems, necessitating dynamic and efficient optimization strategies. Traditional heuristics employed for storage performance…

Reinforcement learning (RL) offers a compelling data-driven paradigm for synthesizing controllers for complex systems when accurate physical models are unavailable; however, most existing control-oriented RL methods assume stationarity and,…

It is common practice in reinforcement learning (RL) research to train and deploy agents in bespoke simulators, typically implemented by engineers directly in general-purpose programming languages or hardware acceleration frameworks such as…

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…

To maintain structural integrity and functionality during the designed life cycle of a structure, engineers are expected to accommodate for natural hazards as well as operational load levels. Active control systems are an efficient solution…

Reinforcement Learning (RL) has emerged as a transformative approach in the domains of automation and robotics, offering powerful solutions to complex problems that conventional methods struggle to address. In scenarios where the problem…

Recent advances in vision-language-action (VLA) models have motivated the extension of their capabilities to embodied settings, where reinforcement learning (RL) offers a principled way to optimize task success through interaction. However,…

Reinforcement learning (RL) has emerged as a powerful paradigm for fine-tuning Large Language Models (LLMs) for text generation. In particular, recent LLMs such as ChatGPT and GPT-4 can engage in fluent conversations with users after…

Deep reinforcement learning (RL) is an optimization-driven framework for producing control strategies for general dynamical systems without explicit reliance on process models. Good results have been reported in simulation. Here we…

Robotic systems driven by artificial muscles present unique challenges due to the nonlinear dynamics of actuators and the complex designs of mechanical structures. Traditional model-based controllers often struggle to achieve desired…

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…