相关论文: Learning with Stochastic Guidance for Navigation

We present a differentiable, decision-oriented learning framework for cost prediction in a class of multi-robot decision-making problems, in which the robots need to trade off the task performance with the costs of taking actions when they…

Deep Reinforcement Learning (DRL) has emerged as a powerful model-free paradigm for learning optimal policies. However, in navigation tasks with cluttered environments, DRL methods often suffer from insufficient exploration, especially…

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)…

Recently, model-free reinforcement learning algorithms have been shown to solve challenging problems by learning from extensive interaction with the environment. A significant issue with transferring this success to the robotics domain is…

In this paper, we propose a novel hierarchical framework for robot navigation in dynamic environments with heterogeneous constraints. Our approach leverages a graph neural network trained via reinforcement learning (RL) to efficiently…

Although deep reinforcement learning (DRL) has shown promising results for autonomous navigation in interactive traffic scenarios, existing work typically adopts a fixed behavior policy to control social vehicles in the training…

With the advancement of data-driven techniques, addressing continuous con-trol challenges has become more efficient. However, the reliance of these methods on historical data introduces the potential for unexpected decisions in novel…

Evolutionary algorithms, such as Differential Evolution, excel in solving real-parameter optimization challenges. However, the effectiveness of a single algorithm varies across different problem instances, necessitating considerable efforts…

Intelligence agents and multi-agent systems play important roles in scenes like the control system of grouped drones, and multi-agent navigation and obstacle avoidance which is the foundational function of advanced application has great…

Many real-world decisions are made under uncertainty by solving optimization problems using predicted quantities. This predict-then-optimize paradigm has motivated decision-focused learning, which trains models with awareness of how the…

Deep Reinforcement Learning is a promising paradigm for robotic control which has been shown to be capable of learning policies for high-dimensional, continuous control of unmodeled systems. However, RoboticReinforcement Learning currently…

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…

The advancement in autonomous vehicles has empowered navigation and exploration in unknown environments. Geomagnetic navigation for autonomous vehicles has drawn increasing attention with its independence from GPS or inertial navigation…

Socially aware navigation is a fast-evolving research area in robotics that enables robots to move within human environments while adhering to the implicit human social norms. The advent of Deep Reinforcement Learning (DRL) has accelerated…

The navigation of robots in dynamic urban environments, requires elaborated anticipative strategies for the robot to avoid collisions with dynamic objects, like bicycles or pedestrians, and to be human aware. We have developed and analyzed…

Reinforcement learning (RL) enables agents to take decision based on a reward function. However, in the process of learning, the choice of values for learning algorithm parameters can significantly impact the overall learning process. In…

In modern robotics, effectively computing optimal control policies under dynamically varying environments poses substantial challenges to the off-the-shelf parametric policy gradient methods, such as the Deep Deterministic Policy Gradient…

Visual navigation tasks in real-world environments often require both self-motion and place recognition feedback. While deep reinforcement learning has shown success in solving these perception and decision-making problems in an end-to-end…

In this paper, a novel deep reinforcement learning (DRL)-based method is proposed to navigate the robot team through unknown complex environments, where the geometric centroid of the robot team aims to reach the goal position while avoiding…

Many cooperative multi-agent problems require agents to learn individual tasks while contributing to the collective success of the group. This is a challenging task for current state-of-the-art multi-agent reinforcement algorithms that are…