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Reinforcement learning (RL) is an appealing paradigm for training intelligent agents, enabling policy acquisition from the agent's own autonomously acquired experience. However, the training process of RL is far from automatic, requiring…
In shared autonomy, user input is combined with semi-autonomous control to achieve a common goal. The goal is often unknown ex-ante, so prior work enables agents to infer the goal from user input and assist with the task. Such methods tend…
Standard reinforcement learning (RL) algorithms assume that the observation of the next state comes instantaneously and at no cost. In a wide variety of sequential decision making tasks ranging from medical treatment to scientific…
In this paper, the trajectory optimization problem for a multi-aerial base station (ABS) communication network is investigated. The objective is to find the trajectory of the ABSs so that the sum-rate of the users served by each ABS is…
In this publication, we assess the ability of a novel Reinforcement Learning-based solution to the problem of Neural Architecture Search, where a Reinforcement Learning (RL) agent learns to search for good architectures, rather than to…
Model-free Reinforcement Learning (RL) generally suffers from poor sample complexity, mostly due to the need to exhaustively explore the state-action space to find well-performing policies. On the other hand, we postulate that expert…
By planning through a learned dynamics model, model-based reinforcement learning (MBRL) offers the prospect of good performance with little environment interaction. However, it is common in practice for the learned model to be inaccurate,…
Climbing, crouching, bridging gaps, and walking up stairs are just a few of the advantages that quadruped robots have over wheeled robots, making them more suitable for navigating rough and unstructured terrain. However, executing such…
Building a good predictive model requires an array of activities such as data imputation, feature transformations, estimator selection, hyper-parameter search and ensemble construction. Given the large, complex and heterogenous space of…
Reinforcement learning suffers from limitations in real practices primarily due to the number of required interactions with virtual environments. It results in a challenging problem because we are implausible to obtain a local optimal…
This paper investigates how to incorporate expert observations (without explicit information on expert actions) into a deep reinforcement learning setting to improve sample efficiency. First, we formulate an augmented policy loss combining…
With the aim of improving performance in Markov Decision Problem in an Off-Policy setting, we suggest taking inspiration from what is done in Offline Reinforcement Learning (RL). In Offline RL, it is a common practice during policy learning…
An intelligent radar resource management is an essential milestone in the development of a cognitive radar system. The quality of service based resource allocation model (Q-RAM) is a framework allowing for intelligent decision making but…
We develop provably safe and convergent reinforcement learning (RL) algorithms for control of nonlinear dynamical systems, bridging the gap between the hard safety guarantees of control theory and the convergence guarantees of RL theory.…
Model-free reinforcement learning (RL) algorithms, such as Q-learning, directly parameterize and update value functions or policies without explicitly modeling the environment. They are typically simpler, more flexible to use, and thus more…
Differentiable neural architecture search (DNAS) is known for its capacity in the automatic generation of superior neural networks. However, DNAS based methods suffer from memory usage explosion when the search space expands, which may…
Climate-induced disasters are and will continue to be on the rise, and thus search-and-rescue (SAR) operations, where the task is to localize and assist one or several people who are missing, become increasingly relevant. In many cases the…
This paper presents a novel model-reference reinforcement learning algorithm for the intelligent tracking control of uncertain autonomous surface vehicles with collision avoidance. The proposed control algorithm combines a conventional…
Model-based reinforcement learning (MBRL) has demonstrated superior sample efficiency compared to model-free reinforcement learning (MFRL). However, the presence of inaccurate models can introduce biases during policy learning, resulting in…
Sim-and-real training is a promising alternative to sim-to-real training for robot manipulations. However, the current sim-and-real training is neither efficient, i.e., slow convergence to the optimal policy, nor effective, i.e., sizeable…