相关论文: Residual Reactive Navigation: Combining Classical …

Intelligent navigation among social crowds is an essential aspect of mobile robotics for applications such as delivery, health care, or assistance. Deep Reinforcement Learning emerged as an alternative planning method to conservative…

Real-world autonomous missions often require rich interaction with nearby objects, such as doors or switches, along with effective navigation. However, such complex behaviors are difficult to learn because they involve both high-level…

As the demands of autonomous mobile robots are increasing in recent years, the requirement of the path planning/navigation algorithm should not be content with the ability to reach the target without any collisions, but also should try to…

This work presents a case study of a learning-based approach for target driven map-less navigation. The underlying navigation model is an end-to-end neural network which is trained using a combination of expert demonstrations, imitation…

Core to the vision-and-language navigation (VLN) challenge is building robust instruction representations and action decoding schemes, which can generalize well to previously unseen instructions and environments. In this paper, we report…

Autonomous navigation in complex and partially observable environments remains a central challenge in robotics. Several bio-inspired models of mapping and navigation based on place cells in the mammalian hippocampus have been proposed. This…

The discovery of place cells and other spatially modulated neurons in the hippocampal complex of rodents has been crucial to elucidating the neural basis of spatial cognition. More recently, the replay of neural sequences encoding…

The autonomous exploration of environments by multi-robot systems is a critical task with broad applications in rescue missions, exploration endeavors, and beyond. Current approaches often rely on either greedy frontier selection or…

This work introduces a robot navigation controller that combines event cameras and other sensors with reinforcement learning to enable real-time human-centered navigation and obstacle avoidance. Unlike conventional image-based controllers,…

Residual learning has recently surfaced as an effective means of constructing very deep neural networks for object recognition. However, current incarnations of residual networks do not allow for the modeling and integration of complex…

Robot social navigation needs to adapt to different human factors and environmental contexts. However, since these factors and contexts are difficult to predict and cannot be exhaustively enumerated, traditional learning-based methods have…

Reinforcement Learning (RL) has shown remarkable progress in simulation environments, yet its application to real-world robotic tasks remains limited due to challenges in exploration and generalization. To address these issues, we introduce…

In this paper, a deep reinforcement learning (DRL) method is proposed to address the problem of UAV navigation in an unknown environment. However, DRL algorithms are limited by the data efficiency problem as they typically require a huge…

Unmanned Aerial Vehicles (UAVs) are increasingly used in automated inspection, delivery, and navigation tasks that require reliable autonomy. This project develops a reinforcement learning (RL) approach to enable a single UAV to…

Robot crowd navigation has been gaining increasing attention and popularity in various practical applications. In existing research, deep reinforcement learning has been applied to robot crowd navigation by training policies in an online…

This paper introduces a learning-based visual planner for agile drone flight in cluttered environments. The proposed planner generates collision-free waypoints in milliseconds, enabling drones to perform agile maneuvers in complex…

This work aims to combine machine learning and control approaches for legged robots, and developed a hybrid framework to achieve new capabilities of balancing against external perturbations. The framework embeds a kernel which is a fully…

Reinforcement learning (RL) has been successfully applied to a variety of robotics applications, where it outperforms classical methods. However, the safety aspect of RL and the transfer to the real world remain an open challenge. A…

Recently, Convolutional Neural Networks (CNNs) have shown promising performance in super-resolution (SR). However, these methods operate primarily on Low Resolution (LR) inputs for memory efficiency but this limits, as we demonstrate, their…

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…