相关论文: Path Integral Guided Policy Search

Recent works using deep learning to solve the Traveling Salesman Problem (TSP) have focused on learning construction heuristics. Such approaches find TSP solutions of good quality but require additional procedures such as beam search and…

Reinforcement learning policies are often represented by neural networks, but programmatic policies are preferred in some cases because they are more interpretable, amenable to formal verification, or generalize better. While efficient…

A common pipeline in learning-based control is to iteratively estimate a model of system dynamics, and apply a trajectory optimization algorithm - e.g.~$\mathtt{iLQR}$ - on the learned model to minimize a target cost. This paper conducts a…

Many current behavior generation methods struggle to handle real-world traffic situations as they do not scale well with complexity. However, behaviors can be learned off-line using data-driven approaches. Especially, reinforcement learning…

We present an approach for approximately solving discrete-time stochastic optimal-control problems by combining direct trajectory optimization, deterministic sampling, and policy optimization. Our feedback motion-planning algorithm uses a…

We present a deep learning method for composite and task-driven motion control for physically simulated characters. In contrast to existing data-driven approaches using reinforcement learning that imitate full-body motions, we learn…

While modern policy optimization methods can do complex manipulation from sensory data, they struggle on problems with extended time horizons and multiple sub-goals. On the other hand, task and motion planning (TAMP) methods scale to long…

Several goal-oriented problems in the real-world can be naturally expressed as Stochastic Shortest Path Problems (SSPs). However, the computational complexity of solving SSPs makes finding solutions to even moderately sized problems…

Reinforcement learning and Imitation Learning approaches utilize policy learning strategies that are difficult to generalize well with just a few examples of a task. In this work, we propose a language-conditioned semantic search-based…

Sampling-based motion planners have experienced much success due to their ability to efficiently and evenly explore the state space. However, for many tasks, it may be more efficient to not uniformly explore the state space, especially when…

Real-time parking occupancy information is critical for a parking management system to facilitate drivers to park more efficiently. Recent advances in connected and automated vehicle technologies enable sensor-equipped cars (probe cars) to…

Enabling autonomous robots to interact in unstructured environments with dynamic objects requires manipulation capabilities that can deal with clutter, changes, and objects' variability. This paper presents a comparison of different…

This paper deploys the Deep Deterministic Policy Gradient (DDPG) algorithm for longitudinal and lateral control of a simulated car to solve a path following task. The DDPG agent was implemented using PyTorch and trained and evaluated on a…

Adapting an agent's behaviour to new environments has been one of the primary focus areas of physics based reinforcement learning. Although recent approaches such as universal policy networks partially address this issue by enabling the…

Policy gradient methods have shown success in learning control policies for high-dimensional dynamical systems. Their biggest downside is the amount of exploration they require before yielding high-performing policies. In a lifelong…

Hierarchies of temporally decoupled policies present a promising approach for enabling structured exploration in complex long-term planning problems. To fully achieve this approach an end-to-end training paradigm is needed. However,…

Model predictive control (MPC) is an effective method for controlling robotic systems, particularly autonomous aerial vehicles such as quadcopters. However, application of MPC can be computationally demanding, and typically requires…

We develop a new continual meta-learning method to address challenges in sequential multi-task learning. In this setting, the agent's goal is to achieve high reward over any sequence of tasks quickly. Prior meta-reinforcement learning…

Synthesizing planning and control policies in robotics is a fundamental task, further complicated by factors such as complex logic specifications and high-dimensional robot dynamics. This paper presents a novel reinforcement learning…

This paper aims to improve the path quality and computational efficiency of sampling-based kinodynamic planners for vehicular navigation. It proposes a learning framework for identifying promising controls during the expansion process of…