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Offline reinforcement learning (RL) is an attractive tool for unmanned aerial vehicle (UAV) systems, where online exploration is costly and raises safety concerns. In terrain-aware UAV relaying, agents may observe high-dimensional inputs…

Imitation Learning (IL) is a widely adopted approach which enables agents to learn from human expert demonstrations by framing the task as a supervised learning problem. However, IL often suffers from causal confusion, where agents…

Learning to imitate expert behavior from demonstrations can be challenging, especially in environments with high-dimensional, continuous observations and unknown dynamics. Supervised learning methods based on behavioral cloning (BC) suffer…

Autonomous vehicles are suited for continuous area patrolling problems. Finding an optimal patrolling strategy can be challenging due to unknown environmental factors, such as wind or landscape; or autonomous vehicles' constraints, such as…

Large-scale Unmanned Aerial Vehicle (UAV) failures can split an unmanned aerial vehicle swarm network into disconnected sub-networks, making decentralized recovery both urgent and difficult. Centralized recovery methods depend on global…

Adversarial Imitation Learning (AIL) allows the agent to reproduce expert behavior with low-dimensional states and actions. However, challenges arise in handling visual states due to their less distinguishable representation compared to…

One of the main challenges in imitation learning is determining what action an agent should take when outside the state distribution of the demonstrations. Inverse reinforcement learning (IRL) can enable generalization to new states by…

We demonstrate the first large-scale application of model-based generative adversarial imitation learning (MGAIL) to the task of dense urban self-driving. We augment standard MGAIL using a hierarchical model to enable generalization to…

Dense, dynamic crowds pose a persistent challenge for autonomous mobile robots. Purely reactive planning methods, such as Model Predictive Path Integral (MPPI) control, often fail to escape local minima in complex scenarios due to their…

In order to improve usability and safety, modern unmanned aerial vehicles (UAVs) are equipped with sensors to monitor the environment, such as laser-scanners and cameras. One important aspect in this monitoring process is to detect…

Generative Adversarial Imitation Learning (GAIL) can learn policies without explicitly defining the reward function from demonstrations. GAIL has the potential to learn policies with high-dimensional observations as input, e.g., images. By…

Many tasks in practice require the collaboration of multiple agents through reinforcement learning. In general, cooperative multiagent reinforcement learning algorithms can be classified into two paradigms: Joint Action Learners (JALs) and…

In this paper, the problem of using one active unmanned aerial vehicle (UAV) and four passive UAVs to localize a 3D target UAV in real time is investigated. In the considered model, each passive UAV receives reflection signals from the…

Realistic traffic simulation is critical for the development of autonomous driving systems and urban mobility planning, yet existing imitation learning approaches often fail to model realistic traffic behaviors. Behavior cloning suffers…

Autonomous driving has achieved significant progress in recent years, but autonomous cars are still unable to tackle high-risk situations where a potential accident is likely. In such near-accident scenarios, even a minor change in the…

Efficient aerial data collection is important in many remote sensing applications. In large-scale monitoring scenarios, deploying a team of unmanned aerial vehicles (UAVs) offers improved spatial coverage and robustness against individual…

Generative adversarial imitation learning (GAIL) has attracted increasing attention in the field of robot learning. It enables robots to learn a policy to achieve a task demonstrated by an expert while simultaneously estimating the reward…

Autonomous parking (AP) is an emering technique to navigate an intelligent vehicle to a parking space without any human intervention. Existing AP methods based on mathematical optimization or machine learning may lead to potential failures…

Autonomous driving involves complex tasks such as data fusion, object and lane detection, behavior prediction, and path planning. As opposed to the modular approach which dedicates individual subsystems to tackle each of those tasks, the…

Generative adversarial imitation learning (GAIL) demonstrates tremendous success in practice, especially when combined with neural networks. Different from reinforcement learning, GAIL learns both policy and reward function from expert…