相关论文: Q-CP: Learning Action Values for Cooperative Plann…

Enabling robots to autonomously navigate complex environments is essential for real-world deployment. Prior methods approach this problem by having the robot maintain an internal map of the world, and then use a localization and planning…

In this paper, a comparison of reinforcement learning algorithms and their performance on a robot box pushing task is provided. The robot box pushing problem is structured as both a single-agent problem and also a multi-agent problem. A…

Controlling high-dimensional systems in biological and robotic applications is challenging due to expansive state-action spaces, where effective exploration is critical. Commonly used exploration strategies in reinforcement learning are…

The significance of network structures in promoting group cooperation within social dilemmas has been widely recognized. Prior studies attribute this facilitation to the assortment of strategies driven by spatial interactions. Although…

Recent years have seen the application of deep reinforcement learning techniques to cooperative multi-agent systems, with great empirical success. However, given the lack of theoretical insight, it remains unclear what the employed neural…

Reinforcement learning (RL) has significantly advanced the control of physics-based and robotic characters that track kinematic reference motion. However, methods typically rely on a weighted sum of conflicting reward functions, requiring…

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…

Deep Q-learning has achieved significant success in single-agent decision making tasks. However, it is challenging to extend Q-learning to large-scale multi-agent scenarios, due to the explosion of action space resulting from the complex…

Synthesizing planning and control policies in robotics is a fundamental task, further complicated by factors such as complex logic specifications and high-dimensional robot dynamics. This paper presents a novel reinforcement learning…

This paper proposes to use probabilistic model checking to synthesize optimal robot policies in multi-tasking autonomous systems that are subject to human-robot interaction. Given the convincing empirical evidence that human behavior can be…

Robotic manipulation stands as a largely unsolved problem despite significant advances in robotics and machine learning in recent years. One of the key challenges in manipulation is the exploration of the dynamics of the environment when…

Collaborative transportation, where multiple robots collaboratively transport a payload, has garnered significant attention in recent years. While ensuring safe and high-performance inter-robot collaboration is critical for effective task…

Many real-world problems come with action spaces represented as feature vectors. Although high-dimensional control is a largely unsolved problem, there has recently been progress for modest dimensionalities. Here we report on a successful…

Popular Maximum Entropy Inverse Reinforcement Learning approaches require the computation of expected state visitation frequencies for the optimal policy under an estimate of the reward function. This usually requires intermediate value…

Increasing interest in integrating advanced robotics within manufacturing has spurred a renewed concentration in developing real-time scheduling solutions to coordinate human-robot collaboration in this environment. Traditionally, the…

Traditional Reinforcement Learning (RL) suffers from replicating human-like behaviors, generalizing effectively in multi-agent scenarios, and overcoming inherent interpretability issues.These tasks are compounded when deep environment…

Model-free reinforcement learning based methods such as Proximal Policy Optimization, or Q-learning typically require thousands of interactions with the environment to approximate the optimum controller which may not always be feasible in…

Value function factorization methods are commonly used in cooperative multi-agent reinforcement learning, with QMIX receiving significant attention. Many QMIX-based methods introduce monotonicity constraints between the joint action value…

Reinforcement learning (RL) is a classical tool to solve network control or policy optimization problems in unknown environments. The original Q-learning suffers from performance and complexity challenges across very large networks. Herein,…

Many advances in cooperative multi-agent reinforcement learning (MARL) are based on two common design principles: value decomposition and parameter sharing. A typical MARL algorithm of this fashion decomposes a centralized Q-function into…