相关论文: Generating Long-term Trajectories Using Deep Hiera…

Despite advances in hierarchical reinforcement learning, its applications to path planning in autonomous driving on highways are challenging. One reason is that conventional hierarchical reinforcement learning approaches are not amenable to…

This paper presents a novel framework for automatic learning of complex strategies in human decision making. The task that we are interested in is to better facilitate long term planning for complex, multi-step events. We observe temporal…

Driving in dense traffic with human and autonomous drivers is a challenging task that requires high-level planning and reasoning. Human drivers can achieve this task comfortably, and there has been many efforts to model human driver…

Learning options that allow agents to exhibit temporally higher order behavior has proven to be useful in increasing exploration, reducing sample complexity and for various transfer scenarios. Deep Discovery of Options (DDO) is a generative…

Legged locomotion is a challenging task for learning algorithms, especially when the task requires a diverse set of primitive behaviors. To solve these problems, we introduce a hierarchical framework to automatically decompose complex…

While solving complex manipulation tasks, manipulation policies often need to learn a set of diverse skills to accomplish these tasks. The set of skills is often quite multimodal - each one may have a quite distinct distribution of actions…

This work investigates the problem of multi-agents trajectory prediction. Prior approaches lack of capability of capturing fine-grained dependencies among coordinated agents. In this paper, we propose a spatial-temporal trajectory…

Imitation learning enables high-fidelity, vision-based learning of policies within rich, photorealistic environments. However, such techniques often rely on traditional discrete-time neural models and face difficulties in generalizing to…

Policy learning for partially observed control tasks requires policies that can remember salient information from past observations. In this paper, we present a method for learning policies with internal memory for high-dimensional,…

This paper presents a technique for trajectory planning based on continuously parameterized high-level actions (motion primitives) of variable duration. This technique leverages deep reinforcement learning (Deep RL) to formulate a policy…

Understanding how people behave in strategic settings--where they make decisions based on their expectations about the behavior of others--is a long-standing problem in the behavioral sciences. We conduct the largest study to date of…

We consider planning problems, that often arise in autonomous driving applications, in which an agent should decide on immediate actions so as to optimize a long term objective. For example, when a car tries to merge in a roundabout it…

Many real-world applications can be formulated as multi-agent cooperation problems, such as network packet routing and coordination of autonomous vehicles. The emergence of deep reinforcement learning (DRL) provides a promising approach for…

Trajectory data generation is an important domain that characterizes the generative process of mobility data. Traditional methods heavily rely on predefined heuristics and distributions and are weak in learning unknown mechanisms. Inspired…

We propose a hierarchical learning architecture for predictive control in unknown environments. We consider a constrained nonlinear dynamical system and assume the availability of state-input trajectories solving control tasks in different…

Modelling pedestrian behavior is crucial in the development and testing of autonomous vehicles. In this work, we present a hierarchical pedestrian behavior model that generates high-level decisions through the use of behavior trees, in…

Robots in the real world need to perceive and move to goals in complex environments without collisions. Avoiding collisions is especially difficult when relying on sensor perception and when goals are among clutter. Diffusion policies and…

We address the problem of learning hierarchical deep neural network policies for reinforcement learning. In contrast to methods that explicitly restrict or cripple lower layers of a hierarchy to force them to use higher-level modulating…

Trajectory optimization methods have achieved an exceptional level of performance on real-world robots in recent years. These methods heavily rely on accurate analytical models of the dynamics, yet some aspects of the physical world can…

A large part of the interest in model-based reinforcement learning derives from the potential utility to acquire a forward model capable of strategic long term decision making. Assuming that an agent succeeds in learning a useful predictive…