相关论文: Collective Robot Reinforcement Learning with Distr…

Recent work has shown that complex manipulation skills, such as pushing or pouring, can be learned through state-of-the-art learning based techniques, such as Reinforcement Learning (RL). However, these methods often have high…

Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…

The intuitive collaboration of humans and intelligent robots (embodied AI) in the real-world is an essential objective for many desirable applications of robotics. Whilst there is much research regarding explicit communication, we focus on…

Model-free reinforcement learning has recently been shown to be effective at learning navigation policies from complex image input. However, these algorithms tend to require large amounts of interaction with the environment, which can be…

A common strategy to deal with the expensive reinforcement learning (RL) of complex tasks is to decompose them into a collection of subtasks that are usually simpler to learn as well as reusable for new problems. However, when a robot…

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…

Recent advances in multi-agent reinforcement learning (MARL) are enabling impressive coordination in heterogeneous multi-robot teams. However, existing approaches often overlook the challenge of generalizing learned policies to teams of new…

Human-aware robot navigation promises a range of applications in which mobile robots bring versatile assistance to people in common human environments. While prior research has mostly focused on modeling pedestrians as independent,…

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.…

Although deep reinforcement learning (DRL) has shown promising results for autonomous navigation in interactive traffic scenarios, existing work typically adopts a fixed behavior policy to control social vehicles in the training…

Being able to reason in an environment with a large number of discrete actions is essential to bringing reinforcement learning to a larger class of problems. Recommender systems, industrial plants and language models are only some of the…

Fleets of robots ingest massive amounts of heterogeneous streaming data silos generated by interacting with their environments, far more than what can be stored or transmitted with ease. At the same time, teams of robots should co-acquire…

In this paper, we present a decentralized sensor-level collision avoidance policy for multi-robot systems, which shows promising results in practical applications. In particular, our policy directly maps raw sensor measurements to an…

Robots need to be able to work in multiple different environments. Even when performing similar tasks, different behaviour should be deployed to best fit the current environment. In this paper, We propose a new approach to navigation, where…

A cooperative robot swarm is a collective of computationally-limited robots that share a common goal. Each robot can only interact with a small subset of its peers, without knowing how this affects the collective utility. Recent advances in…

Planning coverage path for multiple robots in a decentralized way enhances robustness to coverage tasks handling uncertain malfunctions. To achieve high efficiency in a distributed manner for each single robot, a comprehensive understanding…

The ability to autonomously explore and resolve tasks with minimal human guidance is crucial for the self-development of embodied intelligence. Although reinforcement learning methods can largely ease human effort, it's challenging to…

Training robots with reinforcement learning (RL) typically involves heavy interactions with the environment, and the acquired skills are often sensitive to changes in task environments and robot kinematics. Transfer RL aims to leverage…

Modeling generalized robot control policies poses ongoing challenges for language-guided robot manipulation tasks. Existing methods often struggle to efficiently utilize cross-dataset resources or rely on resource-intensive vision-language…

In order for autonomous mobile robots to navigate in human spaces, they must abide by our social norms. Reinforcement learning (RL) has emerged as an effective method to train sequential decision-making policies that are able to respect…