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Reinforcement learning is a promising method to accomplish robotic control tasks. The task of playing musical instruments is, however, largely unexplored because it involves the challenge of achieving sequential goals - melodies - that have…

In many real-world applications of control system and robotics, linear temporal logic (LTL) is a widely-used task specification language which has a compositional grammar that naturally induces temporally extended behaviours across tasks,…

Curriculum learning techniques are a viable solution for improving the accuracy of automatic models, by replacing the traditional random training with an easy-to-hard strategy. However, the standard curriculum methodology does not…

The objective of a reinforcement learning agent is to discover better actions through exploration. However, typical exploration techniques aim to maximize rewards, often incurring high costs in both exploration and learning processes. We…

Reinforcement learning (RL) algorithms struggle with learning optimal policies for tasks where reward feedback is sparse and depends on a complex sequence of events in the environment. Probabilistic reward machines (PRMs) are finite-state…

The electric vehicle routing problem with time windows (EVRPTW) is a complex optimization problem in sustainable logistics, where routing decisions must minimize total travel distance, fleet size, and battery usage while satisfying strict…

This paper addresses the problem of learning optimal control policies for systems with uncertain dynamics and high-level control objectives specified as Linear Temporal Logic (LTL) formulas. Uncertainty is considered in the workspace…

Large Language Models (LLMs) have shown promise as educational tutors, yet effective tutoring requires more than solving problems: it must provide progressive Socratic guidance and balance multiple pedagogical objectives across multi-turn…

Reinforcement Learning (RL) is increasingly used in autonomous driving (AD) and shows clear advantages. However, most RL-based AD methods overlook policy structure design. An RL policy that only outputs short-timescale vehicle control…

We introduce a control-tutored reinforcement learning (CTRL) algorithm. The idea is to enhance tabular learning algorithms by means of a control strategy with limited knowledge of the system model. By tutoring the learning process, the…

Continuous-time reinforcement learning (CTRL) provides a natural framework for sequential decision-making in dynamic environments where interactions evolve continuously over time. While CTRL has shown growing empirical success, its ability…

Reinforcement learning (RL) is a framework to optimize a control policy using rewards that are revealed by the system as a response to a control action. In its standard form, RL involves a single agent that uses its policy to accomplish a…

Robot control policies for temporally extended and sequenced tasks are often characterized by discontinuous switches between different local dynamics. These change-points are often exploited in hierarchical motion planning to build…

Recent studies have uncovered the potential of Large Language Models (LLMs) in addressing complex sequential decision-making tasks through the provision of high-level instructions. However, LLM-based agents lack specialization in tackling…

Goal-conditioned reinforcement learning (RL) can solve tasks in a wide range of domains, including navigation and manipulation, but learning to reach distant goals remains a central challenge to the field. Learning to reach such goals is…

Interacting with the actual environment to acquire data is often costly and time-consuming in robotic tasks. Model-based offline reinforcement learning (RL) provides a feasible solution. On the one hand, it eliminates the requirements of…

We study the problem of predicting and controlling the future state distribution of an autonomous agent. This problem, which can be viewed as a reframing of goal-conditioned reinforcement learning (RL), is centered around learning a…

Reinforcement learning (RL) shows great potential for optimizing multi-vehicle cooperative driving strategies through the state-action-reward feedback loop, but it still faces challenges such as low sample efficiency. This paper proposes a…

Many sequential decision-making tasks involve optimizing multiple conflicting objectives, requiring policies that adapt to different user preferences. In multi-objective reinforcement learning (MORL), one widely studied approach} addresses…

Hierarchical reinforcement learning (HRL) holds great potential for sample-efficient learning on challenging long-horizon tasks. In particular, letting a higher level assign subgoals to a lower level has been shown to enable fast learning…