相关论文: Robot Navigation using Reinforcement Learning and …

When using reinforcement learning (RL) algorithms it is common, given a large state space, to introduce some form of approximation architecture for the value function (VF). The exact form of this architecture can have a significant effect…

Existing navigation policies for autonomous robots tend to focus on collision avoidance while ignoring human-robot interactions in social life. For instance, robots can pass along the corridor safer and easier if pedestrians notice them.…

We present our approach for the development, validation and deployment of a data-driven decision-making function for the automated control of a vehicle. The decisionmaking function, based on an artificial neural network is trained to steer…

Development of navigation algorithms is essential for the successful deployment of robots in rapidly changing hazardous environments for which prior knowledge of configuration is often limited or unavailable. Use of traditional…

Deep reinforcement learning (RL) has been successfully applied to a variety of game-like environments. However, the application of deep RL to visual navigation with realistic environments is a challenging task. We propose a novel learning…

Robot learning requires a considerable amount of high-quality data to realize the promise of generalization. However, large data sets are costly to collect in the real world. Physics simulators can cheaply generate vast data sets with broad…

Rigid robots were extensively researched, whereas soft robotics remains an underexplored field. Utilizing soft-legged robots in performing tasks as a replacement for human beings is an important stride to take, especially under harsh and…

This work focuses on enhancing the generalization performance of deep reinforcement learning-based robot navigation in unseen environments. We present a novel data augmentation approach called scenario augmentation, which enables robots to…

Machine learning provides a powerful tool for building socially compliant robotic systems that go beyond simple predictive models of human behavior. By observing and understanding human interactions from past experiences, learning can…

As the length scales of the smallest technology continue to advance beyond the micron scale it becomes increasingly important to equip robotic components with the means for intelligent and autonomous decision making with limited…

Autonomous navigation in underwater environments remains a major challenge due to the absence of GPS, degraded visibility, and the presence of submerged obstacles. This article investigates these issues through the case of the BlueROV2, an…

Some of the threats in the dynamic environment include the unpredictability of the motion of objects and interferences to the robotic grasp. In such conditions the traditional supervised and reinforcement learning approaches are ill suited…

The essential of navigation, perception, and decision-making which are basic tasks for intelligent robots, is to estimate necessary system states. Among them, navigation is fundamental for other upper applications, providing precise…

This paper presents a Deep Reinforcement Learning based navigation approach in which we define the occupancy observations as heuristic evaluations of motion primitives, rather than using raw sensor data. Our method enables fast mapping of…

This work presents a novel probabilistic interpretation of Slow Feature Analysis (SFA) through the lens of variational inference. Unlike prior formulations that recover linear SFA from Gaussian state-space models with linear emissions, this…

We propose Power Slow Feature Analysis, a gradient-based method to extract temporally slow features from a high-dimensional input stream that varies on a faster time-scale, as a variant of Slow Feature Analysis (SFA) that allows end-to-end…

Reinforcement learning is a widely used approach to autonomous navigation, showing potential in various tasks and robotic setups. Still, it often struggles to reach distant goals when safety constraints are imposed (e.g., the wheeled robot…

In this paper, we confront the problem of applying reinforcement learning to agents that perceive the environment through many sensors and that can perform parallel actions using many actuators as is the case in complex autonomous robots.…

We address the problem of sparse selection of visual features for localizing a team of robots navigating an unknown environment, where robots can exchange relative position measurements with neighbors. We select a set of the most…

The U.S. Defense Advanced Research Projects Agency (DARPA) Subterranean Challenge requires teams of robots to traverse difficult and diverse underground environments. Traversing small gaps is one of the challenging scenarios that robots…