相关论文: ACReL: Adversarial Conditional value-at-risk Reinf…
A key challenge of continual reinforcement learning (CRL) in dynamic environments is to promptly adapt the RL agent's behavior as the environment changes over its lifetime, while minimizing the catastrophic forgetting of the learned…
Continuous-time nonlinear optimal control problems hold great promise in real-world applications. After decades of development, reinforcement learning (RL) has achieved some of the greatest successes as a general nonlinear control design…
Adversarial training is the de facto most promising defense against adversarial examples. Yet, its passive nature inevitably prevents it from being immune to unknown attackers. To achieve a proactive defense, we need a more fundamental…
Adversarial examples derived from deliberately crafted perturbations on visual inputs can easily harm decision process of deep neural networks. To prevent potential threats, various adversarial training-based defense methods have grown…
As machine learning models grow in complexity and increasingly rely on publicly sourced data, such as the human-annotated labels used in training large language models, they become more vulnerable to label poisoning attacks. These attacks,…
Deep reinforcement learning (DRL) has demonstrated remarkable success in developing autonomous driving policies. However, its vulnerability to adversarial attacks remains a critical barrier to real-world deployment. Although existing robust…
Offline reinforcement learning (offline RL) algorithms often require additional constraints or penalty terms to address distribution shift issues, such as adding implicit or explicit policy constraints during policy optimization to reduce…
In safe offline reinforcement learning (RL), the objective is to develop a policy that maximizes cumulative rewards while strictly adhering to safety constraints, utilizing only offline data. Traditional methods often face difficulties in…
Transfer of recent advances in deep reinforcement learning to real-world applications is hindered by high data demands and thus low efficiency and scalability. Through independent improvements of components such as replay buffers or more…
Offline reinforcement learning (RL) aims at learning a good policy from a batch of collected data, without extra interactions with the environment during training. However, current offline RL benchmarks commonly have a large reality gap,…
Real-world robotic tasks often require agents to achieve sequences of goals while respecting time-varying safety constraints. However, standard Reinforcement Learning (RL) paradigms are fundamentally limited in these settings. A natural…
Standard approaches to goal-conditioned reinforcement learning (GCRL) that rely on temporal-difference learning can be unstable and sample-inefficient due to bootstrapping. While recent work has explored contrastive and supervised…
Safety is essential for reinforcement learning (RL) applied in real-world situations. Chance constraints are suitable to represent the safety requirements in stochastic systems. Previous chance-constrained RL methods usually have a low…
Recent studies have demonstrated that reinforcement learning (RL) agents are susceptible to adversarial manipulation, similar to vulnerabilities previously demonstrated in the supervised learning setting. While most existing work studies…
In this work, we study risk-aware reinforcement learning for quadrupedal locomotion. Our approach trains a family of risk-conditioned policies using a Conditional Value-at-Risk (CVaR) constrained policy optimization technique that provides…
We introduce a curriculum learning algorithm, Variational Automatic Curriculum Learning (VACL), for solving challenging goal-conditioned cooperative multi-agent reinforcement learning problems. We motivate our paradigm through a variational…
Constrained Reinforcement Learning (CRL) tackles sequential decision-making problems where agents are required to achieve goals by maximizing the expected return while meeting domain-specific constraints, which are often formulated as…
Reinforcement Learning (RL) has proven largely effective in obtaining stable locomotion gaits for legged robots. However, designing control algorithms which can robustly navigate unseen environments with obstacles remains an ongoing problem…
Many sequential decision-making tasks involve optimizing multiple conflicting objectives, requiring policies that adapt to different user preferences. In multi-objective reinforcement learning (MORL), one widely studied approach} addresses…
Reinforcement learning (RL) for large-scale Vision-Language-Action (VLA) models faces significant challenges in computational efficiency and data acquisition. We propose AcceRL, a fully asynchronous and decoupled RL framework designed to…