相关论文: Generalization through Simulation: Integrating Sim…

A key challenge in scaling up robot learning to many skills and environments is removing the need for human supervision, so that robots can collect their own data and improve their own performance without being limited by the cost of…

In this paper, we present a decentralized sensor-level collision avoidance policy for multi-robot systems, which shows promising results in practical applications. In particular, our policy directly maps raw sensor measurements to an…

Simulation data can be utilized to extend real-world driving data in order to cover edge cases, such as vehicle accidents. The importance of handling edge cases can be observed in the high societal costs in handling car accidents, as well…

Event cameras offer high temporal resolution and low latency, making them ideal sensors for high-speed robotic applications where conventional cameras suffer from image degradations such as motion blur. In addition, their low power…

We demonstrate the possibility of learning drone swarm controllers that are zero-shot transferable to real quadrotors via large-scale multi-agent end-to-end reinforcement learning. We train policies parameterized by neural networks that are…

Mobile service robots are increasingly prevalent in human-centric, real-world domains, operating autonomously in unconstrained indoor environments. In such a context, robotic vision plays a central role in enabling service robots to…

Deep neural network based reinforcement learning (RL) can learn appropriate visual representations for complex tasks like vision-based robotic grasping without the need for manually engineering or prior learning a perception system.…

Deep reinforcement learning (DRL) demonstrates its potential in learning a model-free navigation policy for robot visual navigation. However, the data-demanding algorithm relies on a large number of navigation trajectories in training.…

This paper addresses the problem of traversing through unknown, tilted, and narrow gaps for quadrotors using Deep Reinforcement Learning (DRL). Previous learning-based methods relied on accurate knowledge of the environment, including the…

This paper aims to examine the potential of using the emerging deep reinforcement learning techniques in flight control. Instead of learning from scratch, we suggest to leverage domain knowledge available in learning to improve learning…

Reinforcement learning has received high research interest for developing planning approaches in automated driving. Most prior works consider the end-to-end planning task that yields direct control commands and rarely deploy their algorithm…

Developing and testing algorithms for autonomous vehicles in real world is an expensive and time consuming process. Also, in order to utilize recent advances in machine intelligence and deep learning we need to collect a large amount of…

There have been numerous advances in reinforcement learning, but the typically unconstrained exploration of the learning process prevents the adoption of these methods in many safety critical applications. Recent work in safe reinforcement…

Deep learning is an established framework for learning hierarchical data representations. While compute power is in abundance, one of the main challenges in applying this framework to robotic grasping has been obtaining the amount of data…

Recently, neural control policies have outperformed existing model-based planning-and-control methods for autonomously navigating quadrotors through cluttered environments in minimum time. However, they are not perception aware, a crucial…

Objective: This paper describes the development of hybrid artificial intelligence strategies for drone navigation. Methods: The navigation module combines a deep learning model with a rule-based engine depending on the agent state. The deep…

The robustness of any machine learning solution is fundamentally bound by the data it was trained on. One way to generalize beyond the original training is through human-informed augmentation of the original dataset; however, it is…

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…

In order for a robot to be a generalist that can perform a wide range of jobs, it must be able to acquire a wide variety of skills quickly and efficiently in complex unstructured environments. High-capacity models such as deep neural…

Training robots for operation in the real world is a complex, time consuming and potentially expensive task. Despite significant success of reinforcement learning in games and simulations, research in real robot applications has not been…