Deep Reinforcement Learning (DRL) has achieved impressive performance in robotics and autonomous systems (RASs). A key impediment to its deployment in real-life operations is the spuriously unsafe DRL policies--unexplored states may lead the agent to make wrong decisions that may cause hazards, especially in applications where end-to-end controllers of the RAS were trained by DRL. In this paper, we propose a novel quantitative reliability assessment framework for DRL-controlled RASs, leveraging verification evidence generated from formal reliability analysis of neural networks. A two-level verification framework is introduced to check the safety property with respect to inaccurate observations that are due to, e.g., environmental noises and state changes. Reachability verification tools are leveraged at the local level to generate safety evidence of trajectories, while at the global level, we quantify the overall reliability as an aggregated metric of local safety evidence, according to an operational profile. The effectiveness of the proposed verification framework is demonstrated and validated via experiments on real RASs.

Reinforcement learning (RL) is an important paradigm that can be used to solve important dynamic decisionmaking problems in a diverse set of fields, such as robotics, transportation, healthcare, and user assistance. In recent years there has been a significant increase in interest in this problem, with many proposed solutions. However, in many such applications there are important safety considerations that are difficult to address with existing techniques. Consider the running example of a cleaning robot, whose task is to learn how to vacuum the floor of a house. The primary goal of the robot, of course, is to learn to vacuum as efficiently as possible, which may be measured by the amount cleaned in a given time. However, we would also like to impose safety constraints on the robot's actions; for example, the robot shouldn't roll off of a staircase where it could damage itself, it shouldn't roll over electrical cords, or it shouldn't vacuum up the owner's possessions. In this example, there are several desirable properties we would like a safety-aware learning algorithm to have, including: 1. The agent should avoid taking any unsafe actions, even during training 2. Since it is hard to concretely define a safety function from the robot's sensory observations a priori, we would like the agent to learn a safety function given feedback of observed states 3. Since the notion of safety is human-defined, and we would like the safety feedback to be manually provided by humans (e.g. the owner), we would want the agent to ask for as little feedback as possible 4. We would like to use binary feedback (i.e. is an action in a given state safe or unsafe) rather than numeric feedback, as this is more natural for humans to provide 5. Since the agent may need to act in real time without direct intervention, they should only ask for feedback offline in between episodes

Resource-disaggregated data centre architectures promise a means of pooling resources remotely within data centres, allowing for both more flexibility and resource efficiency underlying the increasingly important infrastructure-as-a-service business. This can be accomplished by means of using an optically circuit switched backbone in the data centre network (DCN); providing the required bandwidth and latency guarantees to ensure reliable performance when applications are run across non-local resource pools. However, resource allocation in this scenario requires both server-level \emph{and} network-level resource to be co-allocated to requests. The online nature and underlying combinatorial complexity of this problem, alongside the typical scale of DCN topologies, makes exact solutions impossible and heuristic based solutions sub-optimal or non-intuitive to design. We demonstrate that \emph{deep reinforcement learning}, where the policy is modelled by a \emph{graph neural network} can be used to learn effective \emph{network-aware} and \emph{topologically-scalable} allocation policies end-to-end. Compared to state-of-the-art heuristics for network-aware resource allocation, the method achieves up to $20\%$ higher acceptance ratio; can achieve the same acceptance ratio as the best performing heuristic with $3\times$ less networking resources available and can maintain all-around performance when directly applied (with no further training) to DCN topologies with $10^2\times$ more servers than the topologies seen during training.

The paper is motivated by the importance of the Smart Cities (SC) concept for future management of global urbanization. Among all Internet of Things (IoT)-based communication technologies, Bluetooth Low Energy (BLE) plays a vital role in city-wide decision making and services. Extreme fluctuations of the Received Signal Strength Indicator (RSSI), however, prevent this technology from being a reliable solution with acceptable accuracy in the dynamic indoor tracking/localization approaches for ever-changing SC environments. The latest version of the BLE v.5.1 introduced a better possibility for tracking users by utilizing the direction finding approaches based on the Angle of Arrival (AoA), which is more reliable. There are still some fundamental issues remaining to be addressed. Existing works mainly focus on implementing stand-alone models overlooking potentials fusion strategies. The paper addresses this gap and proposes a novel Reinforcement Learning (RL)-based information fusion framework (RL-IFF) by coupling AoA with RSSI-based particle filtering and Inertial Measurement Unit (IMU)-based Pedestrian Dead Reckoning (PDR) frameworks. The proposed RL-IFF solution is evaluated through a comprehensive set of experiments illustrating superior performance compared to its counterparts.

This paper proposes a new method to drastically speed up deep reinforcement learning (deep RL) training for problems that have the property of state-action permissibility (SAP). Two types of permissibility are defined under SAP. The first type says that after an action $a_t$ is performed in a state $s_t$ and the agent has reached the new state $s_{t+1}$, the agent can decide whether $a_t$ is permissible or not permissible in $s_t$. The second type says that even without performing $a_t$ in $s_t$, the agent can already decide whether $a_t$ is permissible or not in $s_t$. An action is not permissible in a state if the action can never lead to an optimal solution and thus should not be tried (over and over again). We incorporate the proposed SAP property and encode action permissibility knowledge into two state-of-the-art deep RL algorithms to guide their state-action exploration together with a virtual stopping strategy. Results show that the SAP-based guidance can markedly speed up RL training.

Nowadays, Deep Learning (DL) methods often overcome the limitations of traditional signal processing approaches. Nevertheless, DL methods are barely applied in real-life applications. This is mainly due to limited robustness and distributional shift between training and test data. To this end, recent work has proposed uncertainty mechanisms to increase their reliability. Besides, meta-learning aims at improving the generalization capability of DL models. By taking advantage of that, this paper proposes an uncertainty-based Meta-Reinforcement Learning (Meta-RL) approach with Out-of-Distribution (OOD) detection. The presented method performs a given task in unseen environments and provides information about its complexity. This is done by determining first and second-order statistics on the estimated reward. Using information about its complexity, the proposed algorithm is able to point out when tracking is reliable. To evaluate the proposed method, we benchmark it on a radar-tracking dataset. There, we show that our method outperforms related Meta-RL approaches on unseen tracking scenarios in peak performance by 16% and the baseline by 35% while detecting OOD data with an F1-Score of 72%. This shows that our method is robust to environmental changes and reliably detects OOD scenarios.

Recent advances in quantum computing (QC) and machine learning (ML) have drawn significant attention to the development of quantum machine learning (QML). Reinforcement learning (RL) is one of the ML paradigms which can be used to solve complex sequential decision making problems. Classical RL has been shown to be capable to solve various challenging tasks. However, RL algorithms in the quantum world are still in their infancy. One of the challenges yet to solve is how to train quantum RL in the partially observable environments. In this paper, we approach this challenge through building QRL agents with quantum recurrent neural networks (QRNN). Specifically, we choose the quantum long short-term memory (QLSTM) to be the core of the QRL agent and train the whole model with deep $Q$-learning. We demonstrate the results via numerical simulations that the QLSTM-DRQN can solve standard benchmark such as Cart-Pole with more stable and higher average scores than classical DRQN with similar architecture and number of model parameters.

Model-free deep reinforcement learning (RL) has been successfully applied to challenging continuous control domains. However, poor sample efficiency prevents these methods from being widely used in real-world domains. This paper introduces a novel model-free algorithm, Realistic Actor-Critic(RAC), which can be incorporated with any off-policy RL algorithms to improve sample efficiency. RAC employs Universal Value Function Approximators (UVFA) to simultaneously learn a policy family with the same neural network, each with different trade-offs between underestimation and overestimation. To learn such policies, we introduce uncertainty punished Q-learning, which uses uncertainty from the ensembling of multiple critics to build various confidence-bounds of Q-function. We evaluate RAC on the MuJoCo benchmark, achieving 10x sample efficiency and 25\% performance improvement on the most challenging Humanoid environment compared to SAC.

Transportation is the backbone of the economy and urban development. Improving the efficiency, sustainability, resilience, and intelligence of transportation systems is critical and also challenging. The constantly changing traffic conditions, the uncertain influence of external factors (e.g., weather, accidents), and the interactions among multiple travel modes and multi-type flows result in the dynamic and stochastic natures of transportation systems. The planning, operation, and control of transportation systems require flexible and adaptable strategies in order to deal with uncertainty, non-linearity, variability, and high complexity. In this context, Reinforcement Learning (RL) that enables autonomous decision-makers to interact with the complex environment, learn from the experiences, and select optimal actions has been rapidly emerging as one of the most useful approaches for smart transportation. This paper conducts a bibliometric analysis to identify the development of RL-based methods for transportation applications, typical journals/conferences, and leading topics in the field of intelligent transportation in recent ten years. Then, this paper presents a comprehensive literature review on applications of RL in transportation by categorizing different methods with respect to the specific application domains. The potential future research directions of RL applications and developments are also discussed.

Follow the steps in "Installation" and "Running the Project" to begin. In the emulator press File - Open ROM and choose /Dependencies/Super Mario World (USA).smc . Mario should now begin to play on his own!