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An important problem in reinforcement learning is designing agents that learn to solve tasks safely in an environment. A common solution is for a human expert to define either a penalty in the reward function or a cost to be minimised when…

Machine Learning (ML) techniques have been rapidly adopted by smart Cyber-Physical Systems (CPS) and Internet-of-Things (IoT) due to their powerful decision-making capabilities. However, they are vulnerable to various security and…

Collaborative robots (cobots) increasingly operate alongside humans, demanding robust real-time safeguarding. Current safety standards (e.g., ISO 10218, ANSI/RIA 15.06, ISO/TS 15066) require risk assessments but offer limited guidance for…

This work provides a state-of-the-art survey of continual safe online reinforcement learning (COSRL) methods. We discuss theoretical aspects, challenges, and open questions in building continual online safe reinforcement learning…

It is quite challenging to ensure the safety of reinforcement learning (RL) agents in an unknown and stochastic environment under hard constraints that require the system state not to reach certain specified unsafe regions. Many popular…

Reinforcement Learning (RL) and continuous nonlinear control have been successfully deployed in multiple domains of complicated sequential decision-making tasks. However, given the exploration nature of the learning process and the presence…

The deployment of Reinforcement Learning (RL) in real-world applications is constrained by its failure to satisfy safety criteria. Existing Safe Reinforcement Learning (SafeRL) methods, which rely on cost functions to enforce safety, often…

Designing hierarchical reinforcement learning algorithms that exhibit safe behaviour is not only vital for practical applications but also, facilitates a better understanding of an agent's decisions. We tackle this problem in the options…

We propose a computationally efficient approach to safe reinforcement learning (RL) for frequency regulation in power systems with high levels of variable renewable energy resources. The approach draws on set-theoretic control techniques to…

Robotics is becoming more and more ubiquitous, but the pressure to bring systems to market occasionally goes at the cost of neglecting security mechanisms during the development, deployment or while in production. As a result, contemporary…

Machine learning algorithms in high-dimensional settings are highly susceptible to the influence of even a small fraction of structured outliers, making robust optimization techniques essential. In particular, within the…

Safety alignment is essential for building trustworthy artificial intelligence, yet it remains challenging to enhance model safety without degrading general performance. Current approaches require computationally expensive searches for the…

Mainstream approximate action-value iteration reinforcement learning (RL) algorithms suffer from overestimation bias, leading to suboptimal policies in high-variance stochastic environments. Quantile-based action-value iteration methods…

This paper proposes a Safe Online Control-Informed Learning framework for safety-critical autonomous systems. The framework unifies optimal control, parameter estimation, and safety constraints into an online learning process. It employs an…

Control systems are critical to modern technological infrastructure, spanning industries from aerospace to healthcare. This survey explores the landscape of safe robot learning, investigating methods that balance high-performance control…

Over the last years collaborative robots have gained great success in manufacturing applications where human and robot work together in close proximity. However, current ISO/TS-15066-compliant implementations often limit the efficiency of…

Given a set of trajectories demonstrating the execution of a task safely in a constrained MDP with observable rewards but with unknown constraints and non-observable costs, we aim to find a policy that maximizes the likelihood of…

Reinforcement learning has been successfully used to solve difficult tasks in complex unknown environments. However, these methods typically do not provide any safety guarantees during the learning process. This is particularly problematic,…

Safety concerns during the operation of legged robots must be addressed to enable their widespread use. Machine learning-based control methods that use model-based constraints provide promising means to improve robot safety. This study…

An outstanding challenge for the widespread deployment of robotic systems like autonomous vehicles is ensuring safe interaction with humans without sacrificing performance. Existing safety methods often neglect the robot's ability to learn…