相关论文: Constrained Reinforcement Learning for Dynamic Mat…

A platoon refers to a group of vehicles traveling together in very close proximity using automated driving technology. Owing to its immense capacity to improve fuel efficiency, driving safety, and driver comfort, platooning technology has…

Action and observation delays exist prevalently in the real-world cyber-physical systems which may pose challenges in reinforcement learning design. It is particularly an arduous task when handling multi-agent systems where the delay of one…

Reinforcement learning (RL), with its ability to explore and optimize policies in complex, dynamic decision-making tasks, has emerged as a promising approach to addressing motion planning (MoP) challenges in autonomous driving (AD). Despite…

We present an end-to-end framework for the Assignment Problem with multiple tasks mapped to a group of workers, using reinforcement learning while preserving many constraints. Tasks and workers have time constraints and there is a cost…

Reinforcement learning (RL) is a control approach that can handle nonlinear stochastic optimal control problems. However, despite the promise exhibited, RL has yet to see marked translation to industrial practice primarily due to its…

Deep reinforcement learning algorithms typically act on the same set of actions. However, this is not sufficient for a wide range of real-world applications where different subsets are available at each step. In this thesis, we consider the…

The exponential growth of data-intensive applications has placed unprecedented demands on modern storage systems, necessitating dynamic and efficient optimization strategies. Traditional heuristics employed for storage performance…

Contact-rich manipulation tasks are commonly found in modern manufacturing settings. However, manually designing a robot controller is considered hard for traditional control methods as the controller requires an effective combination of…

We develop an approach for solving time-consistent risk-sensitive stochastic optimization problems using model-free reinforcement learning (RL). Specifically, we assume agents assess the risk of a sequence of random variables using dynamic…

Air transportation is undergoing a rapid evolution globally with the introduction of Advanced Air Mobility (AAM) and with it comes novel challenges and opportunities for transforming aviation. As AAM operations introduce increasing…

In this paper, we study the learning of safe policies in the setting of reinforcement learning problems. This is, we aim to control a Markov Decision Process (MDP) of which we do not know the transition probabilities, but we have access to…

In order to satisfy safety conditions, an agent may be constrained from acting freely. A safe controller can be designed a priori if an environment is well understood, but not when learning is employed. In particular, reinforcement learned…

Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. In times of mass-customization, low setup times including the instructing/specifying of new…

Instability and slowness are two main problems in deep reinforcement learning. Even if proximal policy optimization (PPO) is the state of the art, it still suffers from these two problems. We introduce an improved algorithm based on…

We consider the problem of safe multi-agent motion planning for drones in uncertain, cluttered workspaces. For this problem, we present a tractable motion planner that builds upon the strengths of reinforcement learning and…

Reinforcement learning has shown strong performance in robotic manipulation, but learned policies often degrade in performance when test conditions differ from the training distribution. This limitation is especially important in…

Safety exploration can be regarded as a constrained Markov decision problem where the expected long-term cost is constrained. Previous off-policy algorithms convert the constrained optimization problem into the corresponding unconstrained…

Incorporating a robotic manipulator into a wheel-legged robot enhances its agility and expands its potential for practical applications. However, the presence of potential instability and uncertainties presents additional challenges for…

Reinforcement learning (RL) algorithms find applications in inventory control, recommender systems, vehicular traffic management, cloud computing and robotics. The real-world complications of many tasks arising in these domains makes them…

Scheduling plays an important role in automated production. Its impact can be found in various fields such as the manufacturing industry, the service industry and the technology industry. A scheduling problem (NP-hard) is a task of finding…