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The ability to autonomously navigate safely, especially within dynamic environments, is paramount for mobile robotics. In recent years, DRL approaches have shown superior performance in dynamic obstacle avoidance. However, these…

Continual learning under adversarial conditions remains an open problem, as existing methods often compromise either robustness, scalability, or both. We propose a novel framework that integrates Interval Bound Propagation (IBP) with a…

Recent advancements in artificial intelligence (AI) applications within aerospace have demonstrated substantial growth, particularly in the context of control systems. As High Performance Computing (HPC) platforms continue to evolve, they…

In recent years, deep reinforcement learning has emerged as a technique to solve closed-loop flow control problems. Employing simulation-based environments in reinforcement learning enables a priori end-to-end optimization of the control…

This article presents a digital twin (DT)-enhanced reinforcement learning (RL) framework aimed at optimizing performance and reliability in network resource management, since the traditional RL methods face several unified challenges when…

Cold atom traps are at the heart of many quantum applications in science and technology. The preparation and control of atomic clouds involves complex optimization processes, that could be supported and accelerated by machine learning. In…

We accelerate deep reinforcement learning-based training in visually complex 3D environments by two orders of magnitude over prior work, realizing end-to-end training speeds of over 19,000 frames of experience per second on a single GPU and…

Robust autonomous navigation for Autonomous Aerial Vehicles (AAVs) in complex environments is a critical capability. However, modern end-to-end navigation faces a key challenge: the high-frequency control loop needed for agile flight…

Due to noisy actuation and external disturbances, tuning controllers for high-speed flight is very challenging. In this paper, we ask the following questions: How sensitive are controllers to tuning when tracking high-speed maneuvers? What…

Background and motivation: Deep Reinforcement Learning (Deep RL) is a rapidly developing field. Historically most application has been made to games (such as chess, Atari games, and go). Deep RL is now reaching the stage where it may offer…

Autonomous mapping of unknown environments is a critical challenge, particularly in scenarios where time is limited. Multi-agent systems can enhance efficiency through collaboration, but the scalability of motion-planning algorithms remains…

Reinforcement learning (RL) is a framework to optimize a control policy using rewards that are revealed by the system as a response to a control action. In its standard form, RL involves a single agent that uses its policy to accomplish a…

In this paper VisualEnv, a new tool for creating visual environment for reinforcement learning is introduced. It is the product of an integration of an open-source modelling and rendering software, Blender, and a python module used to…

Next token prediction is an attractive pre-training task for jet foundation models, in that it is simulation free and enables excellent generative capabilities that can transfer across datasets. Here we study multiple improvements to next…

Vision-driven autonomous flight and obstacle avoidance of Unmanned Aerial Vehicles (UAVs) along complex riverine environments for tasks like rescue and surveillance requires a robust control policy, which is yet difficult to obtain due to…

The ability for robots to transfer their learned knowledge to new tasks -- where data is scarce -- is a fundamental challenge for successful robot learning. While fine-tuning has been well-studied as a simple but effective transfer approach…

A runtime assurance system (RTA) for a given plant enables the exercise of an untrusted or experimental controller while assuring safety with a backup (or safety) controller. The relevant computational design problem is to create a logic…

Deep Reinforcement Learning (RL) is mainly studied in a setting where the training and the testing environments are similar. But in many practical applications, these environments may differ. For instance, in control systems, the robot(s)…

Deep Reinforcement Learning (DRL) is widely used to optimize the performance of multi-UAV networks. However, the training of DRL relies on the frequent interactions between the UAVs and the environment, which consumes lots of energy due to…

For the purpose of inspecting power plants, autonomous robots can be built using reinforcement learning techniques. The method replicates the environment and employs a simple reinforcement learning (RL) algorithm. This strategy might be…