相关论文: Safety Augmented Value Estimation from Demonstrati…

Skill-based reinforcement learning (RL) has emerged as a promising strategy to leverage prior knowledge for accelerated robot learning. Skills are typically extracted from expert demonstrations and are embedded into a latent space from…

Reinforcement Learning (RL) algorithms show amazing performance in recent years, but placing RL in real-world applications such as self-driven vehicles may suffer safety problems. A self-driven vehicle moving to a target position following…

Learned representations in deep reinforcement learning (DRL) have to extract task-relevant information from complex observations, balancing between robustness to distraction and informativeness to the policy. Such stable and rich…

Under voltage load shedding has been considered as a standard and effective measure to recover the voltage stability of the electric power grid under emergency and severe conditions. However, this scheme usually trips a massive amount of…

Safety is critical when applying reinforcement learning (RL) to real-world problems. As a result, safe RL has emerged as a fundamental and powerful paradigm for optimizing an agent's policy while incorporating notions of safety. A prevalent…

Deep reinforcement learning (DRL) provides a new way to generate robot control policy. However, the process of training control policy requires lengthy exploration, resulting in a low sample efficiency of reinforcement learning (RL) in…

Ensuring both safety and efficiency in decision-making for autonomous driving systems remains a fundamental challenge. Traditional Deep Reinforcement Learning (DRL) suffers from unsafe random exploration and slow convergence, while Large…

Reinforcement learning (RL) algorithms face significant challenges when dealing with long-horizon robot manipulation tasks in real-world environments due to sample inefficiency and safety issues. To overcome these challenges, we propose a…

We propose Automatic Curricula via Expert Demonstrations (ACED), a reinforcement learning (RL) approach that combines the ideas of imitation learning and curriculum learning in order to solve challenging robotic manipulation tasks with…

Safety comes first in many real-world applications involving autonomous agents. Despite a large number of reinforcement learning (RL) methods focusing on safety-critical tasks, there is still a lack of high-quality evaluation of those…

Reinforcement learning often suffer from the sparse reward issue in real-world robotics problems. Learning from demonstration (LfD) is an effective way to eliminate this problem, which leverages collected expert data to aid online learning.…

This paper addresses the problem of maintaining safety during training in Reinforcement Learning (RL), such that the safety constraint violations are bounded at any point during learning. In a variety of RL applications the safety of the…

While reinforcement learning (RL) methods that learn an internal model of the environment have the potential to be more sample efficient than their model-free counterparts, learning to model raw observations from high dimensional sensors…

Safe Reinforcement Learning (SRL) aims to realize a safe learning process for Deep Reinforcement Learning (DRL) algorithms by incorporating safety constraints. However, the efficacy of SRL approaches often relies on accurate function…

Constrained Reinforcement Learning has been employed to enforce safety constraints on policy through the use of expected cost constraints. The key challenge is in handling expected cost accumulated using the policy and not just in a single…

Residual Reinforcement Learning (RL) is a popular approach for adapting pretrained policies by learning a lightweight residual policy that provides corrective actions. While Residual RL is more sample-efficient than finetuning the entire…

Although recent model-free reinforcement learning algorithms have been shown to be capable of mastering complicated decision-making tasks, the sample complexity of these methods has remained a hurdle to utilizing them in many real-world…

Recently, safe reinforcement learning (RL) with the actor-critic structure for continuous control tasks has received increasing attention. It is still challenging to learn a near-optimal control policy with safety and convergence…

Many robot manipulation skills can be represented with deterministic characteristics and there exist efficient techniques for learning parameterized motor plans for those skills. However, one of the active research challenge still remains…

During initial iterations of training in most Reinforcement Learning (RL) algorithms, agents perform a significant number of random exploratory steps. In the real world, this can limit the practicality of these algorithms as it can lead to…