相关论文: Single-step Options for Adversary Driving

Multi-agent navigation in dynamic environments is of great industrial value when deploying a large scale fleet of robot to real-world applications. This paper proposes a decentralized partially observable multi-agent path planning with…

Traditional autonomous vehicle pipelines that follow a modular approach have been very successful in the past both in academia and industry, which has led to autonomy deployed on road. Though this approach provides ease of interpretation,…

Recent developments in sequential experimental design look to construct a policy that can efficiently navigate the design space, in a way that maximises the expected information gain. Whilst there is work on achieving tractable policies for…

Robots have limited adaptation ability compared to humans and animals in the case of damage. However, robot damages are prevalent in real-world applications, especially for robots deployed in extreme environments. The fragility of robots…

Deep reinforcement learning has enabled robots to learn motor skills from environmental interactions with minimal to no prior knowledge. However, existing reinforcement learning algorithms assume an episodic setting, in which the agent…

In Formula 1, race strategies are adapted according to evolving race conditions and competitors' actions. This paper proposes a reinforcement learning approach for multi-agent race strategy optimization. Agents learn to balance energy…

Reinforcement learning (RL) is an effective approach to motion planning in autonomous driving, where an optimal driving policy can be automatically learned using the interaction data with the environment. Nevertheless, the reward function…

This work regards our preliminary investigation on the problem of path planning for autonomous vehicles that move on a freeway. We approach this problem by proposing a driving policy based on Reinforcement Learning. The proposed policy…

Autonomous systems have achieved superhuman performance in isolation or simulation, yet they remain brittle in shared, dynamic real-world spaces. This failure stems from the dominant single-agent paradigm for physical applications, where…

Sampling-based trajectory planners are widely used for agile autonomous driving due to their ability to generate fast, smooth, and kinodynamically feasible trajectories. However, their behavior is often governed by a cost function with…

Despite seminal advances in reinforcement learning in recent years, many domains where the rewards are sparse, e.g. given only at task completion, remain quite challenging. In such cases, it can be beneficial to tackle the task both from…

A reinforcement learning environment with adversary agents is proposed in this work for pursuit-evasion game in the presence of fog of war, which is of both scientific significance and practical importance in aerospace applications. One of…

Autonomous driving is a multi-agent setting where the host vehicle must apply sophisticated negotiation skills with other road users when overtaking, giving way, merging, taking left and right turns and while pushing ahead in unstructured…

This paper focuses on reinforcement learning (RL) with limited prior knowledge. In the domain of swarm robotics for instance, the expert can hardly design a reward function or demonstrate the target behavior, forbidding the use of both…

We study the problem of teaching via demonstrations in sequential decision-making tasks. In particular, we focus on the situation when the teacher has no access to the learner's model and policy, and the feedback from the learner is limited…

This paper presents a game-theoretic path-following formulation where the opponent is an adversary road model. This formulation allows us to compute safe sets using tools from viability theory, that can be used as terminal constraints in an…

While reinforcement learning has made great improvements, state-of-the-art algorithms can still struggle with seemingly simple set-point feedback control problems. One reason for this is that the learned controller may not be able to excite…

Although reinforcement learning has seen tremendous success recently, this kind of trial-and-error learning can be impractical or inefficient in complex environments. The use of demonstrations, on the other hand, enables agents to benefit…

The reinforcement learning algorithms that focus on how to compute the gradient and choose next actions, are effectively improved the performance of the agents. However, these algorithms are environment-agnostic. This means that the…

Reinforcement learning agents can learn to solve sequential decision tasks by interacting with the environment. Human knowledge of how to solve these tasks can be incorporated using imitation learning, where the agent learns to imitate…