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Imitation learning holds tremendous promise in learning policies efficiently for complex decision making problems. Current state-of-the-art algorithms often use inverse reinforcement learning (IRL), where given a set of expert…

This paper explores continuous-time control synthesis for target-driven navigation to satisfy complex high-level tasks expressed as linear temporal logic (LTL). We propose a model-free framework using deep reinforcement learning (DRL) where…

Many AI problems, in robotics and other domains, are goal-directed, essentially seeking a trajectory leading to some goal state. In such problems, the way we choose to represent a trajectory underlies algorithms for trajectory prediction…

Standard approaches to controlling dynamical systems involve biologically implausible steps such as backpropagation of errors or intermediate model-based system representations. Recent advances in machine learning have shown that…

When faced with a novel scenario, it can be hard to succeed on the first attempt. In these challenging situations, it is important to know how to retry quickly and meaningfully. Retrying behavior can emerge naturally in robots trained on…

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…

Recent analyses highlight challenges in autonomous vehicle technologies, particularly failures in decision-making under dynamic or emergency conditions. Traditional automated driving systems recalculate the entire trajectory in a changing…

Achieving highly dynamic humanoid parkour on unseen, complex terrains remains a challenge in robotics. Although general locomotion policies demonstrate capabilities across broad terrain distributions, they often struggle with arbitrary and…

Fine-tuning pre-trained robot policies with reinforcement learning (RL) often inherits the bottlenecks introduced by pre-training with behavioral cloning (BC), which produces narrow action distributions that lack the coverage necessary for…

Automaton based approaches have enabled robots to perform various complex tasks. However, most existing automaton based algorithms highly rely on the manually customized representation of states for the considered task, limiting its…

We consider the problem of learning structured, closed-loop policies (feedback laws) from demonstrations in order to control under-actuated robotic systems, so that formal behavioral specifications such as reaching a target set of states…

Reinforcement learning (RL) and trajectory optimization (TO) present strong complementary advantages. On one hand, RL approaches are able to learn global control policies directly from data, but generally require large sample sizes to…

Rewards serve as a measure of user satisfaction and act as a limiting factor in interactive recommender systems. In this research, we focus on the problem of learning to reward (LTR), which is fundamental to reinforcement learning. Previous…

It is doubtful that animals have perfect inverse models of their limbs (e.g., what muscle contraction must be applied to every joint to reach a particular location in space). However, in robot control, moving an arm's end-effector to a…

We study the problem of policy repair for learning-based control policies in safety-critical settings. We consider an architecture where a high-performance learning-based control policy (e.g. one trained as a neural network) is paired with…

General-purpose robots require diverse repertoires of behaviors to complete challenging tasks in real-world unstructured environments. To address this issue, goal-conditioned reinforcement learning aims to acquire policies that can reach…

This paper studies satisfaction of temporal properties on unknown stochastic processes that have continuous state spaces. We show how reinforcement learning (RL) can be applied for computing policies that are finite-memory and deterministic…

Fast changing tasks in unpredictable, collaborative environments are typical for medium-small companies, where robotised applications are increasing. Thus, robot programs should be generated in short time with small effort, and the robot…

Model-free or learning-based control, in particular, reinforcement learning (RL), is expected to be applied for complex robotic tasks. Traditional RL requires a policy to be optimized is state-dependent, that means, the policy is a kind of…

Interpretability of AI models allows for user safety checks to build trust in such AIs. In particular, Decision Trees (DTs) provide a global look at the learned model and transparently reveal which features of the input are critical for…