相关论文: Safe Reinforcement Learning in a Simulated Robotic…

Recent progress in AI and Reinforcement learning has shown great success in solving complex problems with high dimensional state spaces. However, most of these successes have been primarily in simulated environments where failure is of…

Active learning methods have shown great promise in reducing the number of samples necessary for learning. As automated learning systems are adopted into real-time, real-world decision-making pipelines, it is increasingly important that…

Reinforcement learning (RL)-based driver assistance systems seek to improve fuel consumption via continual improvement of powertrain control actions considering experiential data from the field. However, the need to explore diverse…

Learning a risk-aware policy is essential but rather challenging in unstructured robotic tasks. Safe reinforcement learning methods open up new possibilities to tackle this problem. However, the conservative policy updates make it…

Deep reinforcement learning (RL) has emerged as a promising approach for autonomously acquiring complex behaviors from low level sensor observations. Although a large portion of deep RL research has focused on applications in video games…

Recent research using Reinforcement Learning (RL) to learn autonomous control for spacecraft operations has shown great success. However, a recent study showed their performance could be improved by changing the action space, i.e. control…

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…

Simulated environments have proven invaluable in Autonomous Cyber Operations (ACO) where Reinforcement Learning (RL) agents can be trained without the computational overhead of emulation. These environments must accurately represent…

Safe reinforcement learning (RL) is crucial for deploying RL agents in real-world applications, as it aims to maximize long-term rewards while satisfying safety constraints. However, safe RL often suffers from sample inefficiency, requiring…

Autonomous vehicles inevitably encounter a vast array of scenarios in real-world environments. Addressing long-tail scenarios, particularly those involving intensive interactions with numerous traffic participants, remains one of the most…

Ensuring safety is important for the practical deployment of reinforcement learning (RL). Various challenges must be addressed, such as handling stochasticity in the environments, providing rigorous guarantees of persistent state-wise…

Recent advances in reinforcement learning (RL) have increased the promise of introducing cognitive assistance and automation to robot-assisted laparoscopic surgery (RALS). However, progress in algorithms and methods depends on the…

Reinforcement Learning (RL) has emerged as a powerful paradigm in Artificial Intelligence (AI), enabling agents to learn optimal behaviors through interactions with their environments. Drawing from the foundations of trial and error, RL…

Robotic insertion tasks are characterized by contact and friction mechanics, making them challenging for conventional feedback control methods due to unmodeled physical effects. Reinforcement learning (RL) is a promising approach for…

An important goal of research in Deep Reinforcement Learning in mobile robotics is to train agents capable of solving complex tasks, which require a high level of scene understanding and reasoning from an egocentric perspective. When…

In many reinforcement learning tasks, the goal is to learn a policy to manipulate an agent, whose design is fixed, to maximize some notion of cumulative reward. The design of the agent's physical structure is rarely optimized for the task…

Safe Reinforcement learning (Safe RL) aims at learning optimal policies while staying safe. A popular solution to Safe RL is shielding, which uses a logical safety specification to prevent an RL agent from taking unsafe actions. However,…

The desire to make applications and machines more intelligent and the aspiration to enable their operation without human interaction have been driving innovations in neural networks, deep learning, and other machine learning techniques.…

As safety violations can lead to severe consequences in real-world robotic applications, the increasing deployment of Reinforcement Learning (RL) in robotic domains has propelled the study of safe exploration for reinforcement learning…

A critical goal of autonomy and artificial intelligence is enabling autonomous robots to rapidly adapt in dynamic and uncertain environments. Classic adaptive control and safe control provide stability and safety guarantees but are limited…