Related papers: On the Equilibrium between Feasible Zone and Uncer…

Safe exploration is essential for the practical use of reinforcement learning (RL) in many real-world scenarios. In this paper, we present a generalized safe exploration (GSE) problem as a unified formulation of common safe exploration…

Recent advances in deep reinforcement learning (RL) have achieved strong results on high-dimensional control tasks, but applying RL to reachability problems raises a fundamental mismatch: reachability seeks to maximize the set of states…

Safely exploring environments with a-priori unknown constraints is a fundamental challenge that restricts the autonomy of robots. While safety is paramount, guarantees on sufficient exploration are also crucial for ensuring autonomous task…

We study the problem of safe learning and exploration in sequential control problems. The goal is to safely collect data samples from operating in an environment, in order to learn to achieve a challenging control goal (e.g., an agile…

Recent rapid developments in reinforcement learning algorithms have been giving us novel possibilities in many fields. However, due to their exploring property, we have to take the risk into consideration when we apply those algorithms to…

This paper addresses the problem of planning a safe (i.e., collision-free) trajectory from an initial state to a goal region when the obstacle space is a-priori unknown and is incrementally revealed online, e.g., through line-of-sight…

Reinforcement learning (RL) is ubiquitous in the development of modern AI systems. However, state-of-the-art RL agents require extensive, and potentially unsafe, interactions with their environments to learn effectively. These limitations…

Safe exploration aims at addressing the limitations of Reinforcement Learning (RL) in safety-critical scenarios, where failures during trial-and-error learning may incur high costs. Several methods exist to incorporate external knowledge or…

This paper addresses the problem of maintaining safety during training in Reinforcement Learning (RL), such that the safety constraint violations are bounded at any point during learning. In a variety of RL applications the safety of the…

Deploying deep reinforcement learning in safety-critical settings requires developing algorithms that obey hard constraints during exploration. This paper contributes a first approach toward enforcing formal safety constraints on end-to-end…

Autonomous robots operating in unstructured, safety-critical environments, from planetary exploration to warehouses and homes, must learn to safely navigate and interact with their surroundings despite limited prior knowledge. Current…

Numerous heuristics and advanced approaches have been proposed for exploration in different settings for deep reinforcement learning. Noise-based exploration generally fares well with dense-shaped rewards and bonus-based exploration with…

Robotic exploration of unknown environments is fundamentally a problem of decision making under uncertainty where the robot must account for uncertainty in sensor measurements, localization, action execution, as well as many other factors.…

A recent body of work addresses safety constraints in explore-and-exploit systems. Such constraints arise where, for example, exploration is carried out by individuals whose welfare should be balanced with overall welfare. In this paper, we…

Successful engineering requires environmentally adapted procedural and architectural approaches. While dealing with complicated issues has become an engineering standard mastering uncertainties in complex environment is still a major issue.…

Safe deployment of autonomous robots in diverse scenarios requires agents that are capable of efficiently adapting to new environments while satisfying constraints. In this work, we propose a practical and theoretically-justified approach…

Safely exploring an unknown dynamical system is critical to the deployment of reinforcement learning (RL) in physical systems where failures may have catastrophic consequences. In scenarios where one knows little about the dynamics, diverse…

The applicability of reinforcement learning (RL) algorithms in real-world domains often requires adherence to safety constraints, a need difficult to address given the asymptotic nature of the classic RL optimization objective. In contrast…

Safe exploration is critical for using reinforcement learning (RL) in risk-sensitive environments. Recent work learns risk measures which measure the probability of violating constraints, which can then be used to enable safety. However,…

Ensuring safety is important for the practical deployment of reinforcement learning (RL). Various challenges must be addressed, such as handling stochasticity in the environments, providing rigorous guarantees of persistent state-wise…