相关论文: Learning Latent Dynamics for Planning from Pixels

Current robotic planning methods often rely on predicting multi-frame images with full pixel details. While this fine-grained approach can serve as a generic world model, it introduces two significant challenges for downstream policy…

Deep neural networks (DNN) have shown great capacity of modeling a dynamical system; nevertheless, they usually do not obey physics constraints such as conservation laws. This paper proposes a new learning framework named ConCerNet to…

Last-mile delivery systems commonly propose the use of autonomous robotic vehicles to increase scalability and efficiency. The economic inefficiency of collecting accurate prior maps for navigation motivates the use of planning algorithms…

The objective of this paper is to design novel multi-layer neural network architectures for multiscale simulations of flows taking into account the observed data and physical modeling concepts. Our approaches use deep learning concepts…

One of the most basic skills a robot should possess is predicting the effect of physical interactions with objects in the environment. This enables optimal action selection to reach a certain goal state. Traditionally, dynamics are…

Most of the works on planning and learning, e.g., planning by (model based) reinforcement learning, are based on two main assumptions: (i) the set of states of the planning domain is fixed; (ii) the mapping between the observations from the…

When planning with an inaccurate dynamics model, a practical strategy is to restrict planning to regions of state-action space where the model is accurate: also known as a \textit{model precondition}. Empirical real-world trajectory data is…

Humans are skillful navigators: We aptly maneuver through new places, realize when we are back at a location we have seen before, and can even conceive of shortcuts that go through parts of our environments we have never visited. Current…

In most classical Autonomous Vehicle (AV) stacks, the prediction and planning layers are separated, limiting the planner to react to predictions that are not informed by the planned trajectory of the AV. This work presents a module that…

This paper studies the operation of multi-agent networks engaged in multi-task decision problems under the paradigm of simultaneous learning and adaptation. Two scenarios are considered: one in which a decision must be taken among multiple…

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…

Even though deep neural networks have shown tremendous success in countless applications, explaining model behaviour or predictions is an open research problem. In this paper, we address this issue by employing a simple yet effective method…

The goal of offline reinforcement learning is to learn a policy from a fixed dataset, without further interactions with the environment. This setting will be an increasingly more important paradigm for real-world applications of…

General-purpose planning algorithms for automated driving combine mission, behavior, and local motion planning. Such planning algorithms map features of the environment and driving kinematics into complex reward functions. To achieve this,…

Deep Convolutional Neural Networks (CNN) have exhibited superior performance in many visual recognition tasks including image classification, object detection, and scene label- ing, due to their large learning capacity and resistance to…

Planning is an important capability of artificial agents that perform long-horizon tasks in real-world environments. In this work, we explore the use of pre-trained language models (PLMs) to reason about plan sequences from text…

Predicting the future motion of traffic agents is crucial for safe and efficient autonomous driving. To this end, we present PredictionNet, a deep neural network (DNN) that predicts the motion of all surrounding traffic agents together with…

Machine learning techniques have outperformed numerous rule-based methods for decision-making in autonomous vehicles. Despite recent efforts, lane changing remains a major challenge, due to the complex driving scenarios and changeable…

To determine an optimal plan for complex tasks, one often deals with dynamic and hierarchical relationships between several entities. Traditionally, such problems are tackled with optimal control, which relies on the optimization of cost…

Combining model-based and model-free deep reinforcement learning has shown great promise for improving sample efficiency on complex control tasks while still retaining high performance. Incorporating imagination is a recent effort in this…