Related papers: TCRL: Temporal-Coupled Adversarial Training for Ro…
We present a novel algorithm that efficiently computes near-optimal deterministic policies for constrained reinforcement learning (CRL) problems. Our approach combines three key ideas: (1) value-demand augmentation, (2) action-space…
Hierarchical reinforcement learning (HRL) proposes to solve difficult tasks by performing decision-making and control at successively higher levels of temporal abstraction. However, off-policy HRL often suffers from the problem of a…
A reinforcement learning (RL) policy trained in a nominal environment could fail in a new/perturbed environment due to the existence of dynamic variations. Existing robust methods try to obtain a fixed policy for all envisioned dynamic…
In curriculum reinforcement learning (CRL), an agent incrementally accumulates knowledge over a sequence of tasks (i.e., a curriculum), and the learning process is aimed at using the accumulated knowledge to finally solve a challenging…
Effective planning in model-based reinforcement learning (MBRL) and model-predictive control (MPC) relies on the accuracy of the learned dynamics model. In many instances of MBRL and MPC, this model is assumed to be stationary and is…
Existing studies on constrained reinforcement learning (RL) may obtain a well-performing policy in the training environment. However, when deployed in a real environment, it may easily violate constraints that were originally satisfied…
Reinforcement learning (RL) excels in various applications but struggles in dynamic environments where the underlying Markov decision process evolves. Continual reinforcement learning (CRL) enables RL agents to continually learn and adapt…
Reinforcement Learning (RL) is a powerful method for controlling dynamic systems, but its learning mechanism can lead to unpredictable actions that undermine the safety of critical systems. Here, we propose RL with Adaptive Regularization…
LCRL is a software tool that implements model-free Reinforcement Learning (RL) algorithms over unknown Markov Decision Processes (MDPs), synthesising policies that satisfy a given linear temporal specification with maximal probability. LCRL…
Recent breakthroughs both in reinforcement learning and trajectory optimization have made significant advances towards real world robotic system deployment. Reinforcement learning (RL) can be applied to many problems without needing any…
In safety-critical domains, reinforcement learning (RL) agents must often satisfy strict, zero-cost safety constraints while accomplishing tasks. Existing model-free methods frequently either fail to achieve near-zero safety violations or…
In the field of safe reinforcement learning (RL), finding a balance between satisfying safety constraints and optimizing reward performance presents a significant challenge. A key obstacle in this endeavor is the estimation of safety…
Adversarial attacks and robustness in Deep Reinforcement Learning (DRL) have been widely studied in various threat models; however, few consider environmental state perturbations, which are natural in embodied scenarios. To improve the…
This paper aims to solve a safe reinforcement learning (RL) problem with risk measure-based constraints. As risk measures, such as conditional value at risk (CVaR), focus on the tail distribution of cost signals, constraining risk measures…
Many real-world applications can be formulated as multi-agent cooperation problems, such as network packet routing and coordination of autonomous vehicles. The emergence of deep reinforcement learning (DRL) provides a promising approach for…
This study proposes a safe and sample-efficient reinforcement learning (RL) framework to address two major challenges in developing applicable RL algorithms: satisfying safety constraints and efficiently learning with limited samples. To…
Meta Reinforcement Learning (MRL) enables an agent to learn from a limited number of past trajectories and extrapolate to a new task. In this paper, we attempt to improve the robustness of MRL. We build upon model-agnostic meta-learning…
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…
In sequential decision-making problems, Return-Conditioned Supervised Learning (RCSL) has gained increasing recognition for its simplicity and stability in modern decision-making tasks. Unlike traditional offline reinforcement learning (RL)…
In this paper, we study the use of robust model independent bounded extremum seeking (ES) feedback control to improve the robustness of deep reinforcement learning (DRL) controllers for a class of nonlinear time-varying systems. DRL has the…