相关论文: Single-step Options for Adversary Driving

Our objective of this project is to make the extension based on the technique mentioned in the paper "Safety-Aware Apprenticeship Learning" to improve the utility and the efficiency of the existing Reinforcement Learning model from a…

In the field of autonomous robots, reinforcement learning (RL) is an increasingly used method to solve the task of dynamic obstacle avoidance for mobile robots, autonomous ships, and drones. A common practice to train those agents is to use…

This paper presents a reinforcement learning-based path-following controller for a fixed-wing small uncrewed aircraft system (sUAS) that is robust to uncertainties in the aerodynamic model of the sUAS. The controller is trained using the…

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…

Adversarial training is so far the most effective strategy in defending against adversarial examples. However, it suffers from high computational costs due to the iterative adversarial attacks in each training step. Recent studies show that…

In the future, powerful AI systems may be deployed in high-stakes settings, where a single failure could be catastrophic. One technique for improving AI safety in high-stakes settings is adversarial training, which uses an adversary to…

Maneuver decision-making is the core of unmanned combat aerial vehicle for autonomous air combat. To solve this problem, we propose an automatic curriculum reinforcement learning method, which enables agents to learn effective decisions in…

The primary goal of reinforcement learning is to develop decision-making policies that prioritize optimal performance, frequently without considering safety. In contrast, safe reinforcement learning seeks to reduce or avoid unsafe behavior.…

Adversarial training has become the primary method to defend against adversarial samples. However, it is hard to practically apply due to many shortcomings. One of the shortcomings of adversarial training is that it will reduce the…

Reinforcement learning (RL) algorithms find applications in inventory control, recommender systems, vehicular traffic management, cloud computing and robotics. The real-world complications of many tasks arising in these domains makes them…

This paper presents an Impedance Primitive-augmented hierarchical reinforcement learning framework for efficient robotic manipulation in sequential contact tasks. We leverage this hierarchical structure to sequentially execute behavior…

In this paper, we consider the problem of building learning agents that can efficiently learn to navigate in constrained environments. The main goal is to design agents that can efficiently learn to understand and generalize to different…

We present an approach for safe trajectory planning, where a strategic task related to autonomous racing is learned sample-efficient within a simulation environment. A high-level policy, represented as a neural network, outputs a reward…

Recent advances in multimodal agents have improved computer-use interaction and tool-usage, yet most existing systems remain reactive, optimizing actions in isolation without reasoning about future states or long-term goals. This limits…

We examine the problem of adversarial reinforcement learning for multi-agent domains including a rule-based agent. Rule-based algorithms are required in safety-critical applications for them to work properly in a wide range of situations.…

Automated driving in urban settings is challenging. Human participant behavior is difficult to model, and conventional, rule-based Automated Driving Systems (ADSs) tend to fail when they face unmodeled dynamics. On the other hand, the more…

Sample inefficiency is a long-lasting challenge in deep reinforcement learning (DRL). Despite dramatic improvements have been made, the problem is far from being solved and is especially challenging in environments with sparse or delayed…

While reinforcement learning algorithms have had great success in the field of autonomous navigation, they cannot be straightforwardly applied to the real autonomous systems without considering the safety constraints. The later are crucial…

Conventional trajectory planning approaches for autonomous racing are based on the sequential execution of prediction of the opposing vehicles and subsequent trajectory planning for the ego vehicle. If the opposing vehicles do not react to…

Well-established optimization-based methods can guarantee an optimal trajectory for a short optimization horizon, typically no longer than a few seconds. As a result, choosing the optimal trajectory for this short horizon may still result…