Related papers: COOL-MC: Verifying and Explaining RL Policies for …
Cooperative multi-agent reinforcement learning (c-MARL) is widely applied in safety-critical scenarios, thus the analysis of robustness for c-MARL models is profoundly important. However, robustness certification for c-MARLs has not yet…
This paper addresses the problem of learning control policies for mobile robots, modeled as unknown Markov Decision Processes (MDPs), that are tasked with temporal logic missions, such as sequencing, coverage, or surveillance. The MDP…
We propose a computationally efficient approach to safe reinforcement learning (RL) for frequency regulation in power systems with high levels of variable renewable energy resources. The approach draws on set-theoretic control techniques to…
Deep reinforcement learning (RL) policies can demonstrate unsafe behaviors and are challenging to interpret. To address these challenges, we combine RL policy model checking--a technique for determining whether RL policies exhibit unsafe…
We propose and analyze a real-time model predictive control (MPC) scheme that utilizes stored data to improve its performance by learning the value function online with stability guarantees. For linear and nonlinear systems, a learning…
Red teaming is critical for identifying vulnerabilities and building trust in current LLMs. However, current automated methods for Large Language Models (LLMs) rely on brittle prompt templates or single-turn attacks, failing to capture the…
In practical applications, we can rarely assume full observability of a system's environment, despite such knowledge being important for determining a reactive control system's precise interaction with its environment. Therefore, we propose…
Initial DR studies mainly adopt model predictive control and thus require accurate models of the control problem (e.g., a customer behavior model), which are to a large extent uncertain for the EV scenario. Hence, model-free approaches,…
Lane change in dense traffic typically requires the recognition of an appropriate opportunity for maneuvers, which remains a challenging problem in self-driving. In this work, we propose a chance-aware lane-change strategy with high-level…
Ensuring the safety of reinforcement learning (RL) policies in high-stakes environments requires not only formal verification but also interpretability and targeted falsification. While model checking provides formal guarantees, its…
While Deep Reinforcement Learning (DRL) provides transformational capabilities to the control of Robotics and Autonomous Systems (RAS), the black-box nature of DRL and uncertain deployment environments of RAS pose new challenges on its…
Reinforcement learning (RL) approaches based on Markov Decision Processes (MDPs) are predominantly applied in the robot joint space, often relying on limited task-specific information and partial awareness of the 3D environment. In…
The real world is unpredictable. Therefore, to solve long-horizon decision-making problems with autonomous robots, we must construct agents that are capable of adapting to changes in the environment during deployment. Model-based planning…
In this paper, we propose the Model Reference Adaptive Control & Reinforcement Learning (MRAC-RL) approach to developing online policies for systems in which modeling errors occur in real-time. Although reinforcement learning (RL)…
Reinforcement learning (RL) has gained increasing attraction in the academia and tech industry with launches to a variety of impactful applications and products. Although research is being actively conducted on many fronts (e.g., offline…
This paper studies the continuous-time reinforcement learning (RL) for optimal switching problems across multiple regimes. We consider a type of exploratory formulation under entropy regularization where the agent randomizes both the timing…
Reinforcement Learning with verifiable rewards (RLVR) has emerged as a primary learning paradigm for enhancing the reasoning capabilities of multi-modal large language models (MLLMs). However, during RL training, the enormous state space of…
Complex mechanical systems such as vehicle powertrains are inherently subject to multiple nonlinearities and uncertainties arising from parametric variations. Modeling errors are therefore unavoidable, making the transfer of control systems…
Due to the proliferation of renewable energy and its intrinsic intermittency and stochasticity, current power systems face severe operational challenges. Data-driven decision-making algorithms from reinforcement learning (RL) offer a…
Inspection and maintenance (I&M) planning involves sequential decision making under uncertainties and incomplete information, and can be modeled as a partially observable Markov decision process (POMDP). While single-agent deep…