相关论文: Domains as Objectives: Domain-Uncertainty-Aware Po…

Many physical systems have underlying safety considerations that require that the policy employed ensures the satisfaction of a set of constraints. The analytical formulation usually takes the form of a Constrained Markov Decision Process…

Recently, (Blanchet, Kang, and Murhy 2016, and Blanchet, and Kang 2017) showed that several machine learning algorithms, such as square-root Lasso, Support Vector Machines, and regularized logistic regression, among many others, can be…

Computer simulation provides an automatic and safe way for training robotic control policies to achieve complex tasks such as locomotion. However, a policy trained in simulation usually does not transfer directly to the real hardware due to…

We present a novel method for Deep Reinforcement Learning (DRL), incorporating the convex property of the value function over the belief space in Partially Observable Markov Decision Processes (POMDPs). We introduce hard- and soft-enforced…

As the complexity of modern control systems increases, it becomes challenging to derive an accurate model of the uncertainty that affects their dynamics. Wasserstein Distributionally Robust Optimization (DRO) provides a powerful framework…

We introduce a novel class of algorithms to efficiently approximate the unknown return distributions in policy evaluation problems from distributional reinforcement learning (DRL). The proposed distributional dynamic programming algorithms…

Distributionally Robust Optimization (DRO) has enabled to prove the equivalence between robustness and regularization in classification and regression, thus providing an analytical reason why regularization generalizes well in statistical…

Producing agents that can generalize to a wide range of visually different environments is a significant challenge in reinforcement learning. One method for overcoming this issue is visual domain randomization, whereby at the start of each…

Although well-established in general reinforcement learning (RL), value-based methods are rarely explored in constrained RL (CRL) for their incapability of finding policies that can randomize among multiple actions. To apply value-based…

Robust reinforcement learning (RL) is to find a policy that optimizes the worst-case performance over an uncertainty set of MDPs. In this paper, we focus on model-free robust RL, where the uncertainty set is defined to be centering at a…

Policy steering is an emerging way to adapt robot behaviors at deployment-time: a learned verifier analyzes low-level action samples proposed by a pre-trained policy (e.g., diffusion policy) and selects only those aligned with the task.…

Sim2real transfer is primarily concerned with transferring policies trained in simulation to potentially noisy real world environments. A common problem associated with sim2real transfer is estimating the real-world environmental parameters…

Robust reinforcement learning (RL) aims to find a policy that optimizes the worst-case performance in the face of uncertainties. In this paper, we focus on action robust RL with the probabilistic policy execution uncertainty, in which,…

In dynamic programming (DP) and reinforcement learning (RL), an agent learns to act optimally in terms of expected long-term return by sequentially interacting with its environment modeled by a Markov decision process (MDP). More generally…

Existing offline reinforcement learning (RL) algorithms typically assume that training data is either: 1) generated by a known policy, or 2) of entirely unknown origin. We consider multi-demonstrator offline RL, a middle ground where we…

Planning plays an important role in the broad class of decision theory. Planning has drawn much attention in recent work in the robotics and sequential decision making areas. Recently, Reinforcement Learning (RL), as an agent-environment…

Safe reinforcement learning tasks are a challenging domain despite being very common in the real world. The widely adopted CMDP model constrains the risks in expectation, which makes room for dangerous behaviors in long-tail states. In…

Ensuring the robustness of deep reinforcement learning (DRL) agents against adversarial attacks is critical for their trustworthy deployment. Recent research highlights the challenges of achieving state-adversarial robustness and suggests…

In this paper, we consider the maximization of the secrecy rate in multiple unmanned aerial vehicles (UAV) rate-splitting multiple access (RSMA) network. A joint beamforming, rate allocation, and UAV trajectory optimization problem is…

Deep Reinforcement Learning (DRL) and Deep Multi-agent Reinforcement Learning (MARL) have achieved significant successes across a wide range of domains, including game AI, autonomous vehicles, robotics, and so on. However, DRL and deep MARL…