相关论文: Failure-averse Active Learning for Physics-constra…

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…

During the training of networks for distance metric learning, minimizers of the typical loss functions can be considered as "feasible points" satisfying a set of constraints imposed by the training data. To this end, we reformulate distance…

While conventional reinforcement learning focuses on designing agents that can perform one task, meta-learning aims, instead, to solve the problem of designing agents that can generalize to different tasks (e.g., environments, obstacles,…

Reinforcement Learning (RL) and continuous nonlinear control have been successfully deployed in multiple domains of complicated sequential decision-making tasks. However, given the exploration nature of the learning process and the presence…

Accurate free energy representations are crucial for understanding phase dynamics in materials. We employ a scale-bridging approach to incorporate atomistic information into our free energy model by training a neural network on DFT-informed…

Active learning aims to select a small subset of data for annotation such that a classifier learned on the data is highly accurate. This is usually done using heuristic selection methods, however the effectiveness of such methods is limited…

Safe reinforcement learning (Safe RL) aims to ensure policy performance while satisfying safety constraints. However, most existing Safe RL methods assume benign environments, making them vulnerable to adversarial perturbations commonly…

This paper addresses the problem of guiding a quadrotor through a predefined sequence of waypoints in cluttered environments, aiming to minimize the flight time while avoiding collisions. Previous approaches either suffer from prolonged…

A common workflow for many engineering design problems requires the evaluation of the design system to be investigated under a range of conditions. These conditions usually involve a combination of several parameters. To perform a complete…

Motion planning is a crucial aspect of robot autonomy as it involves identifying a feasible motion path to a destination while taking into consideration various constraints, such as input, safety, and performance constraints, without…

We consider the problem of reinforcement learning under safety requirements, in which an agent is trained to complete a given task, typically formalized as the maximization of a reward signal over time, while concurrently avoiding…

Safety controllers is widely used to achieve safe reinforcement learning. Most methods that apply a safety controller are using handcrafted safety constraints to construct the safety controller. However, when the environment dynamics are…

Artificial neural networks encounter a notable challenge known as continual learning, which involves acquiring knowledge of multiple tasks over an extended period. This challenge arises due to the tendency of previously learned weights to…

In the trial-and-error mechanism of reinforcement learning (RL), a notorious contradiction arises when we expect to learn a safe policy: how to learn a safe policy without enough data and prior model about the dangerous region? Existing…

Continual learning is an emerging paradigm in machine learning, wherein a model is exposed in an online fashion to data from multiple different distributions (i.e. environments), and is expected to adapt to the distribution change.…

The autonomous operation of flexible-wing aircraft is technically challenging and has never been presented within literature. The lack of an exact modeling framework is due to the complex nonlinear aerodynamic relationships governed by the…

As mini UAVs become increasingly useful in the civilian work domain, the need for a method for them to operate safely in a cluttered environment is growing, especially for fixed-wing UAVs as they are incapable of following the…

In most optimization problems, users have a clear understanding of the function to optimize (e.g., minimize the makespan for scheduling problems). However, the constraints may be difficult to state and their modelling often requires…

Recent work in scientific machine learning has developed so-called physics-informed neural network (PINN) models. The typical approach is to incorporate physical domain knowledge as soft constraints on an empirical loss function and use…

Learning agents that excel at sequential decision-making tasks must continuously resolve the problem of exploration and exploitation for optimal learning. However, such interactions with the environment online might be prohibitively…