相关论文: Robust Reinforcement Learning in Continuous Contro…

Deep reinforcement learning (DRL) has emerged as a promising approach for developing more intelligent autonomous vehicles (AVs). A typical DRL application on AVs is to train a neural network-based driving policy. However, the black-box…

While reinforcement learning (RL) has the potential to enable robots to autonomously acquire a wide range of skills, in practice, RL usually requires manual, per-task engineering of reward functions, especially in real world settings where…

Reinforcement learning (RL) has revolutionized decision-making across a wide range of domains over the past few decades. Yet, deploying RL policies in real-world scenarios presents the crucial challenge of ensuring safety. Traditional safe…

Reinforcement learning (RL) solves sequential decision-making problems via a trial-and-error process interacting with the environment. While RL achieves outstanding success in playing complex video games that allow huge trial-and-error,…

It is common practice in reinforcement learning (RL) research to train and deploy agents in bespoke simulators, typically implemented by engineers directly in general-purpose programming languages or hardware acceleration frameworks such as…

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…

One of the main goals of reinforcement learning (RL) is to provide a~way for physical machines to learn optimal behavior instead of being programmed. However, effective control of the machines usually requires fine time discretization. The…

Reinforcement learning (RL) has achieved remarkable success in real-world decision-making across diverse domains, including gaming, robotics, online advertising, public health, and natural language processing. Despite these advances, a…

One major obstacle that precludes the success of reinforcement learning in real-world applications is the lack of robustness, either to model uncertainties or external disturbances, of the trained policies. Robustness is critical when the…

This paper investigates the so-called reward-balancing methods, a novel class of algorithms for solving discounted-return reinforcement learning (RL) problems. These methods consist of iteratively adjusting the reward function to transform…

World models have recently emerged as a promising approach to reinforcement learning (RL), achieving state-of-the-art performance across a wide range of visual control tasks. This work aims to obtain a deep understanding of the robustness…

The reinforcement learning (RL) problem is rife with sources of non-stationarity, making it a notoriously difficult problem domain for the application of neural networks. We identify a mechanism by which non-stationary prediction targets…

While Reinforcement Learning ( RL) has made great strides towards solving increasingly complicated problems, many algorithms are still brittle to even slight environmental changes. Contextual Reinforcement Learning (cRL) provides a…

Reinforcement Learning (RL) methods have been proven successful in solving manipulation tasks autonomously. However, RL is still not widely adopted on real robotic systems because working with real hardware entails additional challenges,…

Recently, safe reinforcement learning (RL) with the actor-critic structure for continuous control tasks has received increasing attention. It is still challenging to learn a near-optimal control policy with safety and convergence…

Online reinforcement learning (RL) algorithms are often difficult to deploy in complex human-facing applications as they may learn slowly and have poor early performance. To address this, we introduce a practical algorithm for incorporating…

Deep Reinforcement Learning (DRL) has achieved remarkable advances in sequential decision tasks. However, recent works have revealed that DRL agents are susceptible to slight perturbations in observations. This vulnerability raises concerns…

The effectiveness of reinforcement learning (RL) agents in continuous control robotics tasks is mainly dependent on the design of the underlying reward function, which is highly prone to reward hacking. A misalignment between the reward…

Reinforcement learning is a promising approach to developing hard-to-engineer adaptive solutions for complex and diverse robotic tasks. However, learning with real-world robots is often unreliable and difficult, which resulted in their low…

Autonomous navigation of Unmanned Surface Vehicles (USV) in marine environments with current flows is challenging, and few prior works have addressed the sensorbased navigation problem in such environments under no prior knowledge of the…