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High-quality and representative data is essential for both Imitation Learning (IL)- and Reinforcement Learning (RL)-based motion planning tasks. For real robots, it is challenging to collect enough qualified data either as demonstrations…
Constrained Reinforcement Learning (RL) has emerged as a significant research area within RL, where integrating constraints with rewards is crucial for enhancing safety and performance across diverse control tasks. In the context of heating…
Reinforcement learning (RL) in the real world necessitates the development of procedures that enable agents to explore without causing harm to themselves or others. The most successful solutions to the problem of safe RL leverage offline…
This paper presents ModelicaGym toolbox that was developed to employ Reinforcement Learning (RL) for solving optimization and control tasks in Modelica models. The developed tool allows connecting models using Functional Mock-up Interface…
Optimization problems characterized by both discrete and continuous variables are common across various disciplines, presenting unique challenges due to their complex solution landscapes and the difficulty of navigating mixed-variable…
Poor sample efficiency continues to be the primary challenge for deployment of deep Reinforcement Learning (RL) algorithms for real-world applications, and in particular for visuo-motor control. Model-based RL has the potential to be highly…
Training sophisticated machine learning (ML) models requires large datasets that are difficult or expensive to collect for many applications. If prior knowledge about system dynamics is available, mechanistic representations can be used to…
Generative models have made significant progress in synthesizing visual content, including images, videos, and 3D/4D structures. However, they are typically trained with surrogate objectives such as likelihood or reconstruction loss, which…
As the size and ubiquity of artificial intelligence and computational machine learning (ML) models grow, their energy consumption for training and use is rapidly becoming economically and environmentally unsustainable. Neuromorphic…
The indoor environment significantly impacts human health and well-being; enhancing health and reducing energy consumption in these settings is a central research focus. With the advancement of Information and Communication Technology…
Optimizing the injection process in particle accelerators is crucial for enhancing beam quality and operational efficiency. This paper presents a framework for utilizing Reinforcement Learning (RL) to optimize the injection process at…
The decarbonization of buildings presents new challenges for the reliability of the electrical grid as a result of the intermittency of renewable energy sources and increase in grid load brought about by end-use electrification. To restore…
Rapid urbanization, increasing integration of distributed renewable energy resources, energy storage, and electric vehicles introduce new challenges for the power grid. In the US, buildings represent about 70% of the total electricity…
Sample efficiency has been a key issue in reinforcement learning (RL). An efficient agent must be able to leverage its prior experiences to quickly adapt to similar, but new tasks and situations. Meta-RL is one attempt at formalizing and…
The demand of finite raw materials will keep increasing as they fuel modern society. Simultaneously, solutions for stopping carbon emissions in the short term are not available, thus making the net zero target extremely challenging to…
Extrinsic calibration is essential for multi-sensor fusion, existing methods rely on structured targets or fully-excited data, limiting real-world applicability. Online calibration further suffers from weak excitation, leading to unreliable…
Join order selection (JOS) is the problem of ordering join operations to minimize total query execution cost and it is the core NP-hard combinatorial optimization problem of query optimization. In this paper, we present JoinGym, a…
Traditional power grid systems have become obsolete under more frequent and extreme natural disasters. Reinforcement learning (RL) has been a promising solution for resilience given its successful history of power grid control. However,…
Memory Gym presents a suite of 2D partially observable environments, namely Mortar Mayhem, Mystery Path, and Searing Spotlights, designed to benchmark memory capabilities in decision-making agents. These environments, originally with finite…
Robust reinforcement learning (RL) aims to learn policies that remain effective despite uncertainties in its environment, which frequently arise in real-world applications due to variations in environment dynamics. The robust RL methods…