相关论文: SAMBA: Safe Model-Based & Active Reinforcement Lea…

Safe reinforcement learning (RL) is crucial for deploying RL agents in real-world applications, as it aims to maximize long-term rewards while satisfying safety constraints. However, safe RL often suffers from sample inefficiency, requiring…

Reinforcement learning is a promising approach to learning control policies for performing complex multi-agent robotics tasks. However, a policy learned in simulation often fails to guarantee even simple safety properties such as obstacle…

Meta-reinforcement learning (meta-RL) is a promising framework for tackling challenging domains requiring efficient exploration. Existing meta-RL algorithms are characterized by low sample efficiency, and mostly focus on low-dimensional…

This study proposes a safe and sample-efficient reinforcement learning (RL) framework to address two major challenges in developing applicable RL algorithms: satisfying safety constraints and efficiently learning with limited samples. To…

Control applications present hard operational constraints. A violation of these can result in unsafe behavior. This paper introduces Safe Interactive Model Based Learning (SiMBL), a framework to refine an existing controller and a system…

Risk-based active learning is an approach to developing statistical classifiers for online decision-support. In this approach, data-label querying is guided according to the expected value of perfect information for incipient data points.…

The ability to learn and execute optimal control policies safely is critical to realization of complex autonomy, especially where task restarts are not available and/or the systems are safety-critical. Safety requirements are often…

Decision Transformer, a promising approach that applies Transformer architectures to reinforcement learning, relies on causal self-attention to model sequences of states, actions, and rewards. While this method has shown competitive…

Improving sample-efficiency and safety are crucial challenges when deploying reinforcement learning in high-stakes real world applications. We propose LAMBDA, a novel model-based approach for policy optimization in safety critical tasks…

Segmentation is the assigning of a semantic class to every pixel in an image and is a prerequisite for various statistical analysis tasks in materials science, like phase quantification, physics simulations or morphological…

Safe exploration remains a fundamental challenge in reinforcement learning (RL), limiting the deployment of RL agents in the real world. We propose Sampling-Based Safe Reinforcement Learning (SBSRL), a model-based RL algorithm that…

This work aims to investigate the use of a recently proposed, attention-free, scalable state-space model (SSM), Mamba, for the speech enhancement (SE) task. In particular, we employ Mamba to deploy different regression-based SE models…

Probabilistic State Space Models (SSMs) are essential for Reinforcement Learning (RL) from high-dimensional, partial information as they provide concise representations for control. Yet, they lack the computational efficiency of their…

We propose a method to optimise the parameters of a policy which will be used to safely perform a given task in a data-efficient manner. We train a Gaussian process model to capture the system dynamics, based on the PILCO framework. Our…

State Space Model (SSM) is a mathematical model used to describe and analyze the behavior of dynamic systems. This model has witnessed numerous applications in several fields, including control theory, signal processing, economics and…

Machine Learning (ML) and linear System Identification (SI) have been historically developed independently. In this paper, we leverage well-established ML tools - especially the automatic differentiation framework - to introduce SIMBa, a…

We study the problem of minimizing the average of a very large number of smooth functions, which is of key importance in training supervised learning models. One of the most celebrated methods in this context is the SAGA algorithm. Despite…

Model-based reinforcement learning algorithms, which aim to learn a model of the environment to make decisions, are more sample efficient than their model-free counterparts. The sample efficiency of model-based approaches relies on whether…

Safety is one of the biggest concerns to applying reinforcement learning (RL) to the physical world. In its core part, it is challenging to ensure RL agents persistently satisfy a hard state constraint without white-box or black-box…

Probabilistic security assessment and real-time dynamic security assessments (DSA) are promising to better handle the risks of system operations. The current methodologies of security assessments may require many time-domain simulations for…