相关论文: PRM-RL: Long-range Robotic Navigation Tasks by Com…

An emergency responder management (ERM) system dispatches responders, such as ambulances, when it receives requests for medical aid. ERM systems can also proactively reposition responders between predesignated waiting locations to cover any…

This work presents a case study of a learning-based approach for target driven map-less navigation. The underlying navigation model is an end-to-end neural network which is trained using a combination of expert demonstrations, imitation…

Reinforcement Learning (RL) is a potent tool for sequential decision-making and has achieved performance surpassing human capabilities across many challenging real-world tasks. As the extension of RL in the multi-agent system domain,…

Sampling based methods are widely used for robotic motion planning. Traditionally, these samples are drawn from probabilistic ( or deterministic ) distributions to cover the state space uniformly. Despite being probabilistically complete,…

Although Multi-Agent Reinforcement Learning (MARL) is effective for complex multi-robot tasks, it suffers from low sample efficiency and requires iterative manual reward tuning. Large Language Models (LLMs) have shown promise in…

We investigate reinforcement learning (RL) for privileged planning in autonomous driving. State-of-the-art approaches for this task are rule-based, but these methods do not scale to the long tail. RL, on the other hand, is scalable and does…

Autonomous robots must navigate and operate in diverse environments, from terrestrial and aquatic settings to aerial and space domains. While Reinforcement Learning (RL) has shown promise in training policies for specific autonomous robots,…

Local navigation in cluttered environments often suffers from dense obstacles and frequent local minima. Conventional local planners rely on heuristics and are prone to failure, while deep reinforcement learning(DRL)based approaches provide…

This paper addresses the problem of autonomous task allocation by a swarm of autonomous, interactive drones in large-scale, dynamic spatio-temporal environments. When each drone independently determines navigation, sensing, and recharging…

Long-horizon manipulation tasks such as stacking represent a longstanding challenge in the field of robotic manipulation, particularly when using reinforcement learning (RL) methods which often struggle to learn the correct sequence of…

The learning inefficiency of reinforcement learning (RL) from scratch hinders its practical application towards continuous robotic tracking control, especially for high-dimensional robots. This work proposes a data-informed residual…

Autonomous navigation in unstructured environments is essential for field and planetary robotics, where robots must efficiently reach goals while avoiding obstacles under uncertain conditions. Conventional algorithmic approaches often…

Unmanned Aerial Vehicles (UAVs) are increasingly used in automated inspection, delivery, and navigation tasks that require reliable autonomy. This project develops a reinforcement learning (RL) approach to enable a single UAV to…

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…

Imitation learning (IL) and reinforcement learning (RL) each offer distinct advantages for robotics policy learning: IL provides stable learning from demonstrations, and RL promotes generalization through exploration. While existing robot…

Recent advances in Reinforcement Learning (RL) combined with Deep Learning (DL) have demonstrated impressive performance in complex tasks, including autonomous driving. The use of RL agents in autonomous driving leads to a smooth human-like…

Reinforcement learning (RL) holds great promise for enabling autonomous acquisition of complex robotic manipulation skills, but realizing this potential in real-world settings has been challenging. We present a human-in-the-loop…

Homing and navigation are fundamental behaviors in biological systems that enable agents to reliably reach a target under uncertainty. We present a Reinforcement Learning (RL) framework to model adaptive homing in continuous two-dimensional…

State-of-the-art model-based Reinforcement Learning (RL) approaches either use gradient-free, population-based methods for planning, learned policy networks, or a combination of policy networks and planning. Hybrid approaches that combine…

Safe and efficient autonomous driving maneuvers in an interactive and complex environment can be considerably challenging due to the unpredictable actions of other surrounding agents that may be cooperative or adversarial in their…