相关论文: A Satisficing Control Design Framework with Safety…

We introduce Reliable Policy Iteration (RPI) and Conservative RPI (CRPI), variants of Policy Iteration (PI) and Conservative PI (CPI), that retain tabular guarantees under function approximation. RPI uses a novel Bellman-constrained…

Safe Policy Improvement (SPI) aims at provable guarantees that a learned policy is at least approximately as good as a given baseline policy. Building on SPI with Soft Baseline Bootstrapping (Soft-SPIBB) by Nadjahi et al., we identify…

This paper presents a new safety specification method that is robust against errors in the probability distribution of disturbances. Our proposed distributionally robust safe policy maximizes the probability of a system remaining in a…

We study the problem of Safe Policy Improvement (SPI) under constraints in the offline Reinforcement Learning (RL) setting. We consider the scenario where: (i) we have a dataset collected under a known baseline policy, (ii) multiple reward…

In optimal control problem, policy iteration (PI) is a powerful reinforcement learning (RL) tool used for designing optimal controller for the linear systems. However, the need for an initial stabilizing control policy significantly limits…

As autonomous systems become more ubiquitous in daily life, ensuring high performance with guaranteed safety is crucial. However, safety and performance could be competing objectives, which makes their co-optimization difficult.…

Policy iteration (PI) is a recursive process of policy evaluation and improvement for solving an optimal decision-making/control problem, or in other words, a reinforcement learning (RL) problem. PI has also served as the fundamental for…

In this paper, we study Stochastic Control Barrier Functions (SCBFs) to enable the design of probabilistic safe real-time controllers in presence of uncertainties and based on noisy measurements. Our goal is to design controllers that bound…

In an offline reinforcement learning setting, the safe policy improvement (SPI) problem aims to improve the performance of a behavior policy according to which sample data has been generated. State-of-the-art approaches to SPI require a…

Safety is the priority concern when applying reinforcement learning (RL) algorithms to real-world control problems. While policy iteration provides a fundamental algorithm for standard RL, an analogous theoretical algorithm for safe RL…

Policy iteration (PI) is a widely used algorithm for synthesizing optimal feedback control policies across many engineering and scientific applications. When PI is deployed on infinite-horizon, nonlinear, autonomous optimal-control…

Safe control with guarantees generally requires the system model to be known. It is far more challenging to handle systems with uncertain parameters. In this paper, we propose a generic algorithm that can synthesize and verify safe…

In this paper, we establish a subgame perfect equilibrium reinforcement learning (SPERL) framework for time-inconsistent (TIC) problems. In the context of RL, TIC problems are known to face two main challenges: the non-existence of natural…

We present a new guaranteed-safe model predictive path integral (GS-MPPI) control algorithm that enhances sample efficiency in nonlinear systems with multiple safety constraints. The approach use a composite control barrier function (CBF)…

In real-world applications, we often require reliable decision making under dynamics uncertainties using noisy high-dimensional sensory data. Recently, we have seen an increasing number of learning-based control algorithms developed to…

When deployed in the real world, safe control methods must be robust to unstructured uncertainties such as modeling error and external disturbances. Typical robust safety methods achieve their guarantees by always assuming that the…

We study the optimal control of multiple-input and multiple-output dynamical systems via the design of neural network-based controllers with stability and output tracking guarantees. While neural network-based nonlinear controllers have…

This paper investigates the design of a robust fixed-order controller for single-input-single-output (SISO) polytopic systems with interval uncertainties, with the aim that the closed-loop stability is appropriately ensured and the…

This paper investigates necessary and sufficient barrier-like conditions for infinite-horizon safety and reach-avoid verification of stochastic discrete-time systems, derived via a relaxation of the Bellman equations. Unlike prior…

Safe Policy Improvement (SPI) is an important technique for offline reinforcement learning in safety critical applications as it improves the behavior policy with a high probability. We classify various SPI approaches from the literature…