相关论文: GoSafeOpt: Scalable Safe Exploration for Global Op…

There have been numerous advances in reinforcement learning, but the typically unconstrained exploration of the learning process prevents the adoption of these methods in many safety critical applications. Recent work in safe reinforcement…

Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…

In this paper, we present an autonomous navigation system for goal-driven exploration of unknown environments through deep reinforcement learning (DRL). Points of interest (POI) for possible navigation directions are obtained from the…

Autonomous exploration is a complex task where the robot moves through an unknown environment with the goal of mapping it. The desired output of such a process is a sequence of paths that efficiently and safely minimise the uncertainty of…

Safe reinforcement learning has been a promising approach for optimizing the policy of an agent that operates in safety-critical applications. In this paper, we propose an algorithm, SNO-MDP, that explores and optimizes Markov decision…

Emerging applications in robotics and autonomous systems, such as autonomous driving and robotic surgery, often involve critical safety constraints that must be satisfied even when information about system models is limited. In this regard,…

Controlling high-dimensional systems in biological and robotic applications is challenging due to expansive state-action spaces, where effective exploration is critical. Commonly used exploration strategies in reinforcement learning are…

Autonomous learning of robotic skills can allow general-purpose robots to learn wide behavioral repertoires without requiring extensive manual engineering. However, robotic skill learning methods typically make one of several trade-offs to…

Safe control methods are often intended to behave safely even in worst-case human uncertainties. However, humans may exploit such safety-first systems, which results in greater risk for everyone. Despite their significance, no prior work…

Finding global optima in high-dimensional optimization problems is extremely challenging since the number of function evaluations required to sufficiently explore the search space increases exponentially with its dimensionality.…

The performance of learning-based control techniques crucially depends on how effectively the system is explored. While most exploration techniques aim to achieve a globally accurate model, such approaches are generally unsuited for systems…

This paper considers the problem of online multi-robot motion planning with general nonlinear dynamics subject to unknown external disturbances. We propose dSLAP, a distributed safe learning and planning framework that allows the robots to…

Learning-based control algorithms require data collection with abundant supervision for training. Safe exploration algorithms ensure the safety of this data collection process even when only partial knowledge is available. We present a new…

Self-improvement requires robotic systems to initially learn from human-provided data and then gradually enhance their capabilities through interaction with the environment. This is similar to how humans improve their skills through…

We consider a type of constrained optimization problem, where the violation of a constraint leads to an irrevocable loss, such as breakage of a valuable experimental resource/platform or loss of human life. Such problems are referred to as…

In environments with uncertain dynamics exploration is necessary to learn how to perform well. Existing reinforcement learning algorithms provide strong exploration guarantees, but they tend to rely on an ergodicity assumption. The essence…

Safety is one of the key issues preventing the deployment of reinforcement learning techniques in real-world robots. While most approaches in the Safe Reinforcement Learning area do not require prior knowledge of constraints and robot…

Learning to control a safety-critical system with latent dynamics (e.g. for deep brain stimulation) requires taking calculated risks to gain information as efficiently as possible. To address this problem, we present a…

Ensuring safety is a key aspect in sequential decision making problems, such as robotics or process control. The complexity of the underlying systems often makes finding the optimal decision challenging, especially when the safety-critical…

Policy iteration is one of the classical frameworks of reinforcement learning, which requires a known initial stabilizing control. However, finding the initial stabilizing control depends on the known system model. To relax this requirement…