相关论文: A Data-Efficient Framework for Training and Sim-to…

Robot control problems are often structured with a policy function that maps state values into control values, but in many dynamic problems the observed state can have a difficult to characterize relationship with useful policy actions. In…

Traditional dynamic models of continuum robots are in general computationally expensive and not suitable for real-time control. Recent approaches using learning-based methods to approximate the dynamic model of continuum robots for control…

The successful operation of mobile robots requires them to adapt rapidly to environmental changes. To develop an adaptive decision-making tool for mobile robots, we propose a novel algorithm that combines meta-reinforcement learning…

Typical end-to-end formulations for learning robotic navigation involve predicting a small set of steering command actions (e.g., step forward, turn left, turn right, etc.) from images of the current state (e.g., a bird's-eye view of a SLAM…

We consider the problem of learning useful robotic skills from previously collected offline data without access to manually specified rewards or additional online exploration, a setting that is becoming increasingly important for scaling…

Robotic navigation in environments shared with other robots or humans remains challenging because the intentions of the surrounding agents are not directly observable and the environment conditions are continuously changing. Local…

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…

Reinforcement learning-based path planning for multi-agent systems of varying size constitutes a research topic with increasing significance as progress in domains such as urban air mobility and autonomous aerial vehicles continues.…

In this work, we study vision-based end-to-end reinforcement learning on vehicle control problems, such as lane following and collision avoidance. Our controller policy is able to control a small-scale robot to follow the right-hand lane of…

World models enable robots to conduct counterfactual reasoning in physical environments by predicting future world states. While conventional approaches often prioritize pixel-level reconstruction of future scenes, such detailed rendering…

The ability to walk in new scenarios is a key milestone on the path toward real-world applications of legged robots. In this work, we introduce Meta Strategy Optimization, a meta-learning algorithm for training policies with latent variable…

This paper aims to improve the path quality and computational efficiency of sampling-based kinodynamic planners for vehicular navigation. It proposes a learning framework for identifying promising controls during the expansion process of…

Sim2Real transfer has gained popularity because it helps transfer from inexpensive simulators to real world. This paper presents a novel system that fuses components in a traditional World Model into a robust system, trained entirely within…

In this paper, we introduce a novel framework that can learn to make visual predictions about the motion of a robotic agent from raw video frames. Our proposed motion prediction network (PROM-Net) can learn in a completely unsupervised…

This work introduces a robot navigation controller that combines event cameras and other sensors with reinforcement learning to enable real-time human-centered navigation and obstacle avoidance. Unlike conventional image-based controllers,…

Learned dynamics models combined with both planning and policy learning algorithms have shown promise in enabling artificial agents to learn to perform many diverse tasks with limited supervision. However, one of the fundamental challenges…

Development of navigation algorithms is essential for the successful deployment of robots in rapidly changing hazardous environments for which prior knowledge of configuration is often limited or unavailable. Use of traditional…

World models learned from high-dimensional visual observations allow agents to make decisions and plan directly in latent space, avoiding pixel-level reconstruction. However, recent latent predictive architectures (JEPAs), including the…

Simulators are a critical component of modern robotics research. Strategies for both perception and decision making can be studied in simulation first before deployed to real world systems, saving on time and costs. Despite significant…

Mental simulation is a critical cognitive function for goal-directed behavior because it is essential for assessing actions and their consequences. When a self-generated or externally specified goal is given, a sequence of actions that is…