相关论文: Generalizing from a few environments in safety-cri…

Despite the tremendous success of Reinforcement Learning (RL) algorithms in simulation environments, applying RL to real-world applications still faces many challenges. A major concern is safety, in another word, constraint satisfaction.…

Reinforcement learning shows great potential to solve complex contact-rich robot manipulation tasks. However, the safety of using RL in the real world is a crucial problem, since unexpected dangerous collisions might happen when the RL…

Recent advancements in Deep Reinforcement Learning (DRL) have demonstrated its applicability across various domains, including robotics, healthcare, energy optimization, and autonomous driving. However, a critical question remains: How…

In this paper, we consider the problem of building learning agents that can efficiently learn to navigate in constrained environments. The main goal is to design agents that can efficiently learn to understand and generalize to different…

Deep Reinforcement Learning (DRL) is considered a potential framework to improve many real-world autonomous systems; it has attracted the attention of multiple and diverse fields. Nevertheless, the successful deployment in the real world is…

Reinforcement Learning (RL) techniques have drawn great attention in many challenging tasks, but their performance deteriorates dramatically when applied to real-world problems. Various methods, such as domain randomization, have been…

The use of Reinforcement Learning (RL) agents in practical applications requires the consideration of suboptimal outcomes, depending on the familiarity of the agent with its environment. This is especially important in safety-critical…

Reinforcement learning often uses neural networks to solve complex control tasks. However, neural networks are sensitive to input perturbations, which makes their deployment in safety-critical environments challenging. This work lifts…

Although Reinforcement Learning (RL) algorithms have found tremendous success in simulated domains, they often cannot directly be applied to physical systems, especially in cases where there are hard constraints to satisfy (e.g. on safety…

Training safe LLMs remains a critical challenge. The most widely used method, Refusal Training (RT), struggles to generalize against various Out-of-Distribution (OOD) jailbreaking attacks. Although various advanced methods have been…

We introduce an approach for deep reinforcement learning (RL) that improves upon the efficiency, generalization capacity, and interpretability of conventional approaches through structured perception and relational reasoning. It uses…

While deep reinforcement learning (RL) has fueled multiple high-profile successes in machine learning, it is held back from more widespread adoption by its often poor data efficiency and the limited generality of the policies it produces. A…

Large Language Models (LLMs) have achieved remarkable progress in reasoning, alignment, and task-specific performance. However, ensuring harmlessness in these systems remains a critical challenge, particularly in advanced models like…

Safe reinforcement learning deals with mitigating or avoiding unsafe situations by reinforcement learning (RL) agents. Safe RL approaches are based on specific risk representations for particular problems or domains. In order to analyze…

Deep reinforcement learning (RL) has shown promising results in the motion planning of manipulators. However, no method guarantees the safety of highly dynamic obstacles, such as humans, in RL-based manipulator control. This lack of formal…

Federated learning (FL) has become a popular tool for solving traditional Reinforcement Learning (RL) tasks. The multi-agent structure addresses the major concern of data-hungry in traditional RL, while the federated mechanism protects the…

The emerging field of Reinforcement Learning (RL) has led to impressive results in varied domains like strategy games, robotics, etc. This handout aims to give a simple introduction to RL from control perspective and discuss three possible…

The reinforcement learning (RL) problem is rife with sources of non-stationarity, making it a notoriously difficult problem domain for the application of neural networks. We identify a mechanism by which non-stationary prediction targets…

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…

In this paper, we study the application of DRL algorithms in the context of local navigation problems, in which a robot moves towards a goal location in unknown and cluttered workspaces equipped only with limited-range exteroceptive…