相关论文: Trial without Error: Towards Safe Reinforcement Le…

We present a robotic setup for real-world testing and evaluation of human-robot and human-human collaborative learning. Leveraging the sample-efficiency of the Soft Actor-Critic algorithm, we have implemented a robotic platform able to…

Collision avoidance algorithms are essential for safe and efficient robot operation among pedestrians. This work proposes using deep reinforcement (RL) learning as a framework to model the complex interactions and cooperation with nearby,…

In recent years, Reinforcement Learning (RL) has seen increasing popularity in research and popular culture. However, skepticism still surrounds the practicality of RL in modern video game development. In this paper, we demonstrate by…

We present Agent Lightning, a flexible and extensible framework that enables Reinforcement Learning (RL)-based training of Large Language Models (LLMs) for any AI agent. Unlike existing methods that tightly couple RL training with agent or…

Reinforcement learning systems have the potential to enable continuous improvement in unstructured environments, leveraging data collected autonomously. However, in practice these systems require significant amounts of instrumentation or…

The trial and error approach of reinforcement learning (RL) results in high performance across many complex tasks, but it can also lead to unsafe behavior. Run time assurance (RTA) approaches can be used to assure safety of the agent during…

Reinforcement learning (RL) algorithms hold the promise of enabling autonomous skill acquisition for robotic systems. However, in practice, real-world robotic RL typically requires time consuming data collection and frequent human…

Agents should avoid unsafe behaviour during both training and deployment. This typically requires a simulator and a procedural specification of unsafe behaviour. Unfortunately, a simulator is not always available, and procedurally…

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…

Traditional reinforcement learning agents learn from experience, past or present, gained through interaction with their environment. Our approach synthesizes experience, without requiring an agent to interact with their environment, by…

In human-in-the-loop reinforcement learning or environments where calculating a reward is expensive, the costly rewards can make learning efficiency challenging to achieve. The cost of obtaining feedback from humans or calculating expensive…

Care-giving and assistive robotics, driven by advancements in AI, offer promising solutions to meet the growing demand for care, particularly in the context of increasing numbers of individuals requiring assistance. This creates a pressing…

This paper argues that model-free reinforcement learning (RL) agents, while lacking explicit planning mechanisms, exhibit behaviours that can be analogised to System 1 ("thinking fast") processes in human cognition. Unlike model-based RL…

The cooperation among AI systems, and between AI systems and humans is becoming increasingly important. In various real-world tasks, an agent needs to cooperate with unknown partner agent types. This requires the agent to assess the…

Training sophisticated agents for optimal decision-making under uncertainty has been key to the rapid development of modern autonomous systems across fields. Notably, model-free reinforcement learning (RL) has enabled decision-making agents…

Teaching a deep reinforcement learning (RL) agent to follow instructions in multi-task environments is a challenging problem. We consider that user defines every task by a linear temporal logic (LTL) formula. However, some causal…

Deep reinforcement learning has proven remarkably useful in training agents from unstructured data. However, the opacity of the produced agents makes it difficult to ensure that they adhere to various requirements posed by human engineers.…

Safety-critical robot systems need thorough testing to expose design flaws and software bugs which could endanger humans. Testing in simulation is becoming increasingly popular, as it can be applied early in the development process and does…

Combining deep neural networks with reinforcement learning has shown great potential in the next-generation intelligent control. However, there are challenges in terms of safety and cost in practical applications. In this paper, we propose…

Since deep neural networks' resurgence, reinforcement learning has gradually strengthened and surpassed humans in many conventional games. However, it is not easy to copy these accomplishments to autonomous driving because state spaces are…