相关论文: Combining Subgoal Graphs with Reinforcement Learni…

Reinforcement learning (RL) is an effective method of finding reasoning pathways in incomplete knowledge graphs (KGs). To overcome the challenges of a large action space, a self-supervised pre-training method is proposed to warm up the…

Many AI problems, in robotics and other domains, are goal-based, essentially seeking trajectories leading to various goal states. Reinforcement learning (RL), building on Bellman's optimality equation, naturally optimizes for a single goal,…

Path planning in dynamic environments is a fundamental challenge in intelligent transportation and robotics, where obstacles and conditions change over time, introducing uncertainty and requiring continuous adaptation. While existing…

In this work, we propose a hierarchical reinforcement learning (HRL) structure which is capable of performing autonomous vehicle planning tasks in simulated environments with multiple sub-goals. In this hierarchical structure, the network…

Hierarchical reinforcement learning (HRL) improves the efficiency of long-horizon reinforcement-learning tasks with sparse rewards by decomposing the task into a hierarchy of subgoals. The main challenge of HRL is efficient discovery of the…

Solving robotic navigation tasks via reinforcement learning (RL) is challenging due to their sparse reward and long decision horizon nature. However, in many navigation tasks, high-level (HL) task representations, like a rough floor plan,…

Offline goal-conditioned reinforcement learning (GCRL) often struggles with long-horizon tasks, where errors in value estimation accumulate and produce unreliable policies. It is typically assumed that effective long-term planning is…

Safe navigation is essential for autonomous systems operating in hazardous environments. Traditional planning methods excel at long-horizon tasks but rely on a predefined graph with fixed distance metrics. In contrast, safe Reinforcement…

We present GRL-SNAM, a geometric reinforcement learning framework for Simultaneous Navigation and Mapping(SNAM) in unknown environments. A SNAM problem is challenging as it needs to design hierarchical or joint policies of multiple agents…

Planning safe trajectories under uncertain and dynamic conditions makes the autonomous driving problem significantly complex. Current sampling-based methods such as Rapidly Exploring Random Trees (RRTs) are not ideal for this problem…

Reinforcement learning-based mapless navigation holds significant potential. However, it faces challenges in indoor environments with local minima area. This paper introduces a safe mapless navigation framework utilizing hierarchical…

This paper studies Reinforcement Learning (RL) techniques to enable team coordination behaviors in graph environments with support actions among teammates to reduce the costs of traversing certain risky edges in a centralized manner. While…

Trained humans exhibit highly agile spatial skills, enabling them to operate vehicles with complex dynamics in demanding tasks and conditions. Prior work shows that humans achieve this performance by using strategies such as satisficing,…

Reinforcement learning (RL) often struggles to accomplish a sparse-reward long-horizon task in a complex environment. Goal-conditioned reinforcement learning (GCRL) has been employed to tackle this difficult problem via a curriculum of…

In recent years, deep Reinforcement Learning (RL) has been successful in various combinatorial search domains, such as two-player games and scientific discovery. However, directly applying deep RL in planning domains is still challenging.…

The 3D scene graph models spatial relationships between objects, enabling the agent to efficiently navigate in a partially observable environment and predict the location of the target object.This paper proposes an original framework named…

Motion planning has been an important research topic in achieving safe and flexible maneuvers for intelligent vehicles. However, it remains challenging to realize efficient and optimal planning in the presence of uncertain model dynamics.…

Next-token prediction is the fundamental principle for training large language models (LLMs), and reinforcement learning (RL) further enhances their reasoning performance. As an effective way to model language, image, video, and other…

Hierarchical Reinforcement Learning (HRL) exploits temporally extended actions, or options, to make decisions from a higher-dimensional perspective to alleviate the sparse reward problem, one of the most challenging problems in…

Lexicographic multi-objective problems, which consist of multiple conflicting subtasks with explicit priorities, are common in real-world applications. Despite the advantages of Reinforcement Learning (RL) in single tasks, extending…