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Deep reinforcement learning (DRL) has achieved groundbreaking successes in a wide variety of robotic applications. A natural consequence is the adoption of this paradigm for safety-critical tasks, where human safety and expensive hardware…

Signal temporal logic (STL) is a powerful tool for describing complex behaviors for dynamical systems. Among many approaches, the control problem for systems under STL task constraints is well suited for learning-based solutions, because…

Reinforcement learning (RL) with linear temporal logic (LTL) objectives can allow robots to carry out symbolic event plans in unknown environments. Most existing methods assume that the event detector can accurately map environmental states…

RSL-RL is an open-source Reinforcement Learning library tailored to the specific needs of the robotics community. Unlike broad general-purpose frameworks, its design philosophy prioritizes a compact and easily modifiable codebase, allowing…

Reinforcement learning (RL) solves sequential decision-making problems via a trial-and-error process interacting with the environment. While RL achieves outstanding success in playing complex video games that allow huge trial-and-error,…

Despite significant advances in Reinforcement Learning (RL), model performance remains highly sensitive to algorithm and hyperparameter configurations, while generalization gaps across environments complicate real-world deployment. Although…

Goal-conditioned reinforcement learning (GCRL), related to a set of complex RL problems, trains an agent to achieve different goals under particular scenarios. Compared to the standard RL solutions that learn a policy solely depending on…

Decoding-based regression, which reformulates regression as a sequence generation task, has emerged as a promising paradigm of applying large language models for numerical prediction. However, its progress is hindered by the misalignment…

Large language models (LLMs) have been widely deployed as autonomous agents capable of following user instructions and making decisions in real-world applications. Previous studies have made notable progress in benchmarking the instruction…

Model-free continuous control for robot navigation tasks using Deep Reinforcement Learning (DRL) that relies on noisy policies for exploration is sensitive to the density of rewards. In practice, robots are usually deployed in cluttered…

Synthetic datasets constructed from formal languages allow fine-grained examination of the learning and generalization capabilities of machine learning systems for sequence classification. This article presents a new benchmark for machine…

Machine Learning (ML) has transformed many scientific fields, yet key applications still lack standardized benchmarks. Raman spectroscopy, a widely used technique for non-invasive molecular analysis, is one such field where progress is…

Reinforcement Learning (RL) is a computational approach to reward-driven learning in sequential decision problems. It implements the discovery of optimal actions by learning from an agent interacting with an environment rather than from…

We study a class of constrained reinforcement learning (RL) problems in which multiple constraint specifications are not identified before training. It is challenging to identify appropriate constraint specifications due to the undefined…

Reinforcement learning (RL) is a promising approach for aligning large language models (LLMs) knowledge with sequential decision-making tasks. However, few studies have thoroughly investigated the impact on LLM agents capabilities of…

Aligned large language models (LLMs) demonstrate exceptional capabilities in task-solving, following instructions, and ensuring safety. However, the continual learning aspect of these aligned LLMs has been largely overlooked. Existing…

The advent of Large Language Models (LLMs) holds promise for revolutionizing various fields traditionally dominated by human expertise. Urban planning, a professional discipline that fundamentally shapes our daily surroundings, is one such…

Planning is a fundamental capability for large language models (LLMs) because such complex tasks require models to coordinate goals, constraints, resources, and long-term consequences into executable and verifiable solutions. Existing…

Reinforcement Learning (RL), bolstered by the expressive capabilities of Deep Neural Networks (DNNs) for function approximation, has demonstrated considerable success in numerous applications. However, its practicality in addressing various…

Deep Reinforcement Learning (DRL) has achieved remarkable success in sequential decision-making tasks across diverse domains, yet its reliance on black-box neural architectures hinders interpretability, trust, and deployment in high-stakes…