相关论文: Teaching a Machine to Read Maps with Deep Reinforc…

Deep Reinforcement Learning has been successfully applied in various computer games [8]. However, it is still rarely used in real-world applications, especially for the navigation and continuous control of real mobile robots [13]. Previous…

We propose an approach to learning agents for active robotic mapping, where the goal is to map the environment as quickly as possible. The agent learns to map efficiently in simulated environments by receiving rewards corresponding to how…

Reliable localization is crucial for autonomous robots to navigate efficiently and safely. Some navigation methods can plan paths with high localizability (which describes the capability of acquiring reliable localization). By following…

Navigation is a complex skill with a long history of research in animals and humans. In this work, we simulate the Morris Water Maze in 2D to train deep reinforcement learning agents. We perform automatic classification of navigation…

Learning to navigate in complex environments with dynamic elements is an important milestone in developing AI agents. In this work we formulate the navigation question as a reinforcement learning problem and show that data efficiency and…

Autonomous navigation is challenging for mobile robots, especially in an unknown environment. Commonly, the robot requires multiple sensors to map the environment, locate itself, and make a plan to reach the target. However, reinforcement…

Navigating through unstructured environments is a basic capability of intelligent creatures, and thus is of fundamental interest in the study and development of artificial intelligence. Long-range navigation is a complex cognitive task that…

Navigation is a fundamental cognitive skill extensively studied in neuroscientific experiments and has lately gained substantial interest in artificial intelligence research. Recreating the task solved by rodents in the well-established…

Deep reinforcement learning (RL) has been successfully applied to a variety of game-like environments. However, the application of deep RL to visual navigation with realistic environments is a challenging task. We propose a novel learning…

Learning navigation capabilities in different environments has long been one of the major challenges in decision-making. In this work, we focus on zero-shot navigation ability using given abstract $2$-D top-down maps. Like human navigation…

In this paper, we consider the problem of building learning agents that can efficiently learn to navigate in constrained environments. The main goal is to design agents that can efficiently learn to understand and generalize to different…

In the context of visual navigation, the capacity to map a novel environment is necessary for an agent to exploit its observation history in the considered place and efficiently reach known goals. This ability can be associated with spatial…

Autonomous navigation is an essential capability of smart mobility for mobile robots. Traditional methods must have the environment map to plan a collision-free path in workspace. Deep reinforcement learning (DRL) is a promising technique…

This paper explores the mechanistic interpretability of reinforcement learning (RL) agents through an analysis of a neural network trained on procedural maze environments. By dissecting the network's inner workings, we identified…

In video games, non-player characters (NPCs) are used to enhance the players' experience in a variety of ways, e.g., as enemies, allies, or innocent bystanders. A crucial component of NPCs is navigation, which allows them to move from one…

This paper addresses the challenge of navigation in large, visually complex environments with sparse rewards. We propose a method that uses object-oriented macro actions grounded in a topological map, allowing a simple Deep Q-Network (DQN)…

In this paper we consider the problem of robot navigation in simple maze-like environments where the robot has to rely on its onboard sensors to perform the navigation task. In particular, we are interested in solutions to this problem that…

We present a control approach for autonomous vehicles based on deep reinforcement learning. A neural network agent is trained to map its estimated state to acceleration and steering commands given the objective of reaching a specific target…

Self-trained autonomous agents developed using machine learning are showing great promise in a variety of control settings, perhaps most remarkably in applications involving autonomous vehicles. The main challenge associated with…

Intelligent agents need to remember salient information to reason in partially-observed environments. For example, agents with a first-person view should remember the positions of relevant objects even if they go out of view. Similarly, to…