5 papers · 1 filter
Safe Exploration via Policy Priors
Manuel Wendl, Yarden As, Manish Prajapat +3
Safe exploration is a key requirement for reinforcement learning (RL) agents to learn and adapt online, beyond controlled (e.g. simulated) environments. In this work, we tackle thi…
Sampling-Based Safe Reinforcement Learning
Luca Vignola, Bruce D. Lee, Manish Prajapat +4
Safe exploration remains a fundamental challenge in reinforcement learning (RL), limiting the deployment of RL agents in the real world. We propose Sampling-Based Safe Reinforcemen…
Performance-driven Constrained Optimal Auto-Tuner for MPC
Albert Gassol Puigjaner, Manish Prajapat, Andrea Carron +2
A key challenge in tuning Model Predictive Control (MPC) cost function parameters is to ensure that the system performance stays consistently above a certain threshold. To address…
Geometric Active Exploration in Markov Decision Processes: the Benefit of Abstraction
Riccardo De Santi, Federico Arangath Joseph, Noah Liniger +2
How can a scientist use a Reinforcement Learning (RL) algorithm to design experiments over a dynamical system's state space? In the case of finite and Markovian systems, an area ca…
Global Reinforcement Learning: Beyond Linear and Convex Rewards via Submodular Semi-gradient Methods
Riccardo De Santi, Manish Prajapat, Andreas Krause
In classic Reinforcement Learning (RL), the agent maximizes an additive objective of the visited states, e.g., a value function. Unfortunately, objectives of this type cannot model…