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Hierarchical Multi-Agent Reinforcement Learning with Control Barrier Functions for Safety-Critical Autonomous Systems
H. M. Sabbir Ahmad, Ehsan Sabouni, Alexander Wasilkoff +6
We address the problem of safe policy learning in multi-agent safety-critical autonomous systems. In such systems, it is necessary for each agent to meet the safety requirements at…
One Subgoal at a Time: Zero-Shot Generalization to Arbitrary Linear Temporal Logic Requirements in Multi-Task Reinforcement Learning
Zijian Guo, İlker Işık, H. M. Sabbir Ahmad +1
Generalizing to complex and temporally extended task objectives and safety constraints remains a critical challenge in reinforcement learning (RL). Linear temporal logic (LTL) offe…
Robust and Safe Multi-Agent Reinforcement Learning with Communication for Autonomous Vehicles: From Simulation to Hardware
Keshawn Smith, Zhili Zhang, H M Sabbir Ahmad +5
Deep multi-agent reinforcement learning (MARL) has been demonstrated effectively in simulations for multi-robot problems. For autonomous vehicles, the development of vehicle-to-veh…