相关论文: Robot Navigation using Reinforcement Learning and …

The transfer of reinforcement learning (RL) techniques into real-world applications is challenged by safety requirements in the presence of physical limitations. Most RL methods, in particular the most popular algorithms, do not support…

In shared autonomy, user input is combined with semi-autonomous control to achieve a common goal. The goal is often unknown ex-ante, so prior work enables agents to infer the goal from user input and assist with the task. Such methods tend…

We apply reinforcement learning (RL) to robotics tasks. One of the drawbacks of traditional RL algorithms has been their poor sample efficiency. One approach to improve the sample efficiency is model-based RL. In our model-based RL…

Tomorrow's robots will need to distinguish useful information from noise when performing different tasks. A household robot for instance may continuously receive a plethora of information about the home, but needs to focus on just a small…

In this work, we study model-based reinforcement learning (RL) in unknown stabilizable linear dynamical systems. When learning a dynamical system, one needs to stabilize the unknown dynamics in order to avoid system blow-ups. We propose an…

Learning strategic robot behavior -- like that required in pursuit-evasion interactions -- under real-world constraints is extremely challenging. It requires exploiting the dynamics of the interaction, and planning through both physical…

It is challenging for a mobile robot to navigate through human crowds. Existing approaches usually assume that pedestrians follow a predefined collision avoidance strategy, like social force model (SFM) or optimal reciprocal collision…

Designing controllers that accomplish tasks while guaranteeing safety constraints remains a significant challenge. We often want an agent to perform well in a nominal task, such as environment exploration, while ensuring it can avoid unsafe…

High-precision surface defect detection in manufacturing is essential for ensuring quality control. Laser triangulation profilometric sensors are key to this process, providing detailed and accurate surface measurements over a line. To…

State-of-the-art reinforcement learning algorithms predominantly learn a policy from either a numerical state vector or images. Both approaches generally do not take structural knowledge of the task into account, which is especially…

Objective: This paper describes the development of hybrid artificial intelligence strategies for drone navigation. Methods: The navigation module combines a deep learning model with a rule-based engine depending on the agent state. The deep…

In this paper, we consider the problem of building learning agents that can efficiently learn to navigate in constrained environments. The main goal is to design agents that can efficiently learn to understand and generalize to different…

Sampling-based motion planning is a well-established approach in autonomous driving, valued for its modularity and analytical tractability. In complex urban scenarios, however, uniform or heuristic sampling often produces many infeasible or…

Adaptability is central to autonomy. Intuitively, for high-dimensional learning problems such as navigating based on vision, internal models with higher complexity allow to accurately encode the information available. However, most learning…

Dynamic hand gestures play a crucial role in conveying nonverbal information for Human-Robot Interaction (HRI), eliminating the need for complex interfaces. Current models for dynamic gesture recognition suffer from limitations in effective…

Developing efficient and accurate visuomotor policies poses a central challenge in robotic imitation learning. While recent rectified flow approaches have advanced visuomotor policy learning, they suffer from a key limitation: After…

In this paper, we present an online reinforcement learning algorithm for constrained Markov decision processes with a safety constraint. Despite the necessary attention of the scientific community, considering stochastic stopping time, the…

The problem with existing camera-based Deep Reinforcement Learning approaches is twofold: they rarely integrate high-level scene context into the feature representation, and they rely on rigid, fixed reward functions. To address these…

The interest in using reinforcement learning (RL) controllers in safety-critical applications such as robot navigation around pedestrians motivates the development of additional safety mechanisms. Running RL-enabled systems among uncertain…

Despite the potential of reinforcement learning (RL) for building general-purpose robotic systems, training RL agents to solve robotics tasks still remains challenging due to the difficulty of exploration in purely continuous action spaces.…