相关论文: Deep Learning of Robotic Tasks without a Simulator…

Unmanned vehicles able to conduct advanced operations without human intervention are being developed at a fast pace for many purposes. Not surprisingly, they are also expected to significantly change how military operations can be…

Visual navigation is a task of training an embodied agent by intelligently navigating to a target object (e.g., television) using only visual observations. A key challenge for current deep reinforcement learning models lies in the…

This work regards our preliminary investigation on the problem of path planning for autonomous vehicles that move on a freeway. We approach this problem by proposing a driving policy based on Reinforcement Learning. The proposed policy…

To solve tasks in complex environments, robots need to learn from experience. Deep reinforcement learning is a common approach to robot learning but requires a large amount of trial and error to learn, limiting its deployment in the…

We propose a model-free reinforcement learning method for controlling mixed autonomy traffic in simulated traffic networks with through-traffic-only two-way and four-way intersections. Our method utilizes multi-agent policy decomposition…

Driving in a dynamic, multi-agent, and complex urban environment is a difficult task requiring a complex decision-making policy. The learning of such a policy requires a state representation that can encode the entire environment. Mid-level…

Assistive Robotics is a class of robotics concerned with aiding humans in daily care tasks that they may be inhibited from doing due to disabilities or age. While research has demonstrated that classical control methods can be used to…

Manipulation of deformable objects, such as ropes and cloth, is an important but challenging problem in robotics. We present a learning-based system where a robot takes as input a sequence of images of a human manipulating a rope from an…

An important goal of research in Deep Reinforcement Learning in mobile robotics is to train agents capable of solving complex tasks, which require a high level of scene understanding and reasoning from an egocentric perspective. When…

Transportation and traffic are currently undergoing a rapid increase in terms of both scale and complexity. At the same time, an increasing share of traffic participants are being transformed into agents driven or supported by artificial…

Several model-based and model-free methods have been proposed for the robot trajectory learning task. Both approaches have their benefits and drawbacks. They can usually complement each other. Many research works are trying to integrate…

Recent robot learning methods commonly rely on imitation learning from massive robotic dataset collected with teleoperation. When facing a new task, such methods generally require collecting a set of new teleoperation data and finetuning…

Learning collaborative behaviors is essential for multi-agent systems. Traditionally, multi-agent reinforcement learning solves this implicitly through a joint reward and centralized observations, assuming collaborative behavior will…

As part of a complete software stack for autonomous driving, NVIDIA has created a neural-network-based system, known as PilotNet, which outputs steering angles given images of the road ahead. PilotNet is trained using road images paired…

Despite significant advancements in the field of multi-agent navigation, agents still lack the sophistication and intelligence that humans exhibit in multi-agent settings. In this paper, we propose a framework for learning a human-like…

Efficient navigation in dynamic environments is crucial for autonomous robots interacting with moving agents and static obstacles. We present a novel deep reinforcement learning approach that improves robot navigation and interaction with…

Urban autonomous driving decision making is challenging due to complex road geometry and multi-agent interactions. Current decision making methods are mostly manually designing the driving policy, which might result in sub-optimal solutions…

In this paper, we propose a reinforcement learning-based algorithm for trajectory optimization for constrained dynamical systems. This problem is motivated by the fact that for most robotic systems, the dynamics may not always be known.…

In a Human-in-the-Loop paradigm, a robotic agent is able to act mostly autonomously in solving a task, but can request help from an external expert when needed. However, knowing when to request such assistance is critical: too few requests…

Rearranging objects on a tabletop surface by means of nonprehensile manipulation is a task which requires skillful interaction with the physical world. Usually, this is achieved by precisely modeling physical properties of the objects,…