相关论文: Reducing Risk for Assistive Reinforcement Learning…

Reinforcement learning (RL) methods for social robot navigation show great success navigating robots through large crowds of people, but the performance of these learning-based methods tends to degrade in particularly challenging or…

Robustness to modeling errors and uncertainties remains a central challenge in reinforcement learning (RL). In this work, we address this challenge by leveraging diffusion models to train robust RL policies. Diffusion models have recently…

Safety is a crucial property of every robotic platform: any control policy should always comply with actuator limits and avoid collisions with the environment and humans. In reinforcement learning, safety is even more fundamental for…

The transformation towards intelligence in various industries is creating more demand for intelligent and flexible products. In the field of robotics, learning-based methods are increasingly being applied, with the purpose of training…

Robotic control policies learned from human demonstrations have achieved impressive results in many real-world applications. However, in scenarios where initial performance is not satisfactory, as is often the case in novel open-world…

The ability to recover from an unexpected external perturbation is a fundamental motor skill in bipedal locomotion. An effective response includes the ability to not just recover balance and maintain stability but also to fall in a safe…

Safe reinforcement learning deals with mitigating or avoiding unsafe situations by reinforcement learning (RL) agents. Safe RL approaches are based on specific risk representations for particular problems or domains. In order to analyze…

This article surveys reinforcement learning approaches in social robotics. Reinforcement learning is a framework for decision-making problems in which an agent interacts through trial-and-error with its environment to discover an optimal…

As a paradigm for sequential decision making in unknown environments, reinforcement learning (RL) has received a flurry of attention in recent years. However, the explosion of model complexity in emerging applications and the presence of…

Skill-based reinforcement learning (RL) has emerged as a promising strategy to leverage prior knowledge for accelerated robot learning. Skills are typically extracted from expert demonstrations and are embedded into a latent space from…

Robotics has been a popular field of research in the past few decades, with much success in industrial applications such as manufacturing and logistics. This success is led by clearly defined use cases and controlled operating environments.…

Safety is an essential component for deploying reinforcement learning (RL) algorithms in real-world scenarios, and is critical during the learning process itself. A natural first approach toward safe RL is to manually specify constraints on…

Reinforcement Learning is a mature technology, often suggested as a potential route towards Artificial General Intelligence, with the ambitious goal of replicating the wide range of abilities found in natural and artificial intelligence,…

Humanoid robotics has strong potential to transform daily service and caregiving applications. Although recent advances in general motion tracking within physics engines (GMT) have enabled virtual characters and humanoid robots to reproduce…

Assistive technologies increasingly support independence, accessibility, and safety for older adults, people with disabilities, and individuals requiring continuous care. Two major categories are virtual assistive systems and robotic…

Active learning from demonstration allows a robot to query a human for specific types of input to achieve efficient learning. Existing work has explored a variety of active query strategies; however, to our knowledge, none of these…

This paper presents the concept of an adaptive safe padding that forces Reinforcement Learning (RL) to synthesise optimal control policies while ensuring safety during the learning process. Policies are synthesised to satisfy a goal,…

This article is a gentle discussion about the field of reinforcement learning in practice, about opportunities and challenges, touching a broad range of topics, with perspectives and without technical details. The article is based on both…

Reinforcement learning (RL) enables agents to learn optimal behaviors through interaction with their environment and has been increasingly deployed in safety-critical applications, including autonomous driving. Despite its promise, RL is…

Meta reinforcement learning (RL) allows agents to leverage experience across a distribution of tasks on which the agent can train at will, enabling faster learning of optimal policies on new test tasks. Despite its success in improving…