相关论文: Residual Reactive Navigation: Combining Classical …

Studies that broaden drone applications into complex tasks require a stable control framework. Recently, deep reinforcement learning (RL) algorithms have been exploited in many studies for robot control to accomplish complex tasks.…

Residual reinforcement learning (RL) has been proposed as a way to solve challenging robotic tasks by adapting control actions from a conventional feedback controller to maximize a reward signal. We extend the residual formulation to learn…

Audio-visual embodied navigation aims to enable an agent to autonomously localize and reach a sound source in unseen 3D environments by leveraging auditory cues. The key challenge of this task lies in effectively modeling the interaction…

Experience reuse is key to sample-efficient reinforcement learning. One of the critical issues is how the experience is represented and stored. Previously, the experience can be stored in the forms of features, individual models, and the…

This investigation introduces a novel deep reinforcement learning-based suite to control floating platforms in both simulated and real-world environments. Floating platforms serve as versatile test-beds to emulate micro-gravity environments…

Existing navigation policies for autonomous robots tend to focus on collision avoidance while ignoring human-robot interactions in social life. For instance, robots can pass along the corridor safer and easier if pedestrians notice them.…

With the advancement of robotics, machine learning, and machine perception, increasingly more robots will enter human environments to assist with daily tasks. However, dynamically-changing human environments requires reactive motion plans.…

The robustness of Unmanned Surface Vehicles (USV) is crucial when facing unknown and complex marine environments, especially when heteroscedastic observational noise poses significant challenges to sensor-based navigation tasks. Recently,…

Deep reinforcement learning (RL) is a promising approach to solving complex robotics problems. However, the process of learning through trial-and-error interactions is often highly time-consuming, despite recent advancements in RL…

In this work we present a method for learning a reactive policy for a simple dynamic locomotion task involving hard impact and switching contacts where we assume the contact location and contact timing to be unknown. To learn such a policy,…

Deep Reinforcement Learning (DRL) has been applied successfully to many robotic applications. However, the large number of trials needed for training is a key issue. Most of existing techniques developed to improve training efficiency (e.g.…

Efficient point-to-point navigation in the presence of a background flow field is important for robotic applications such as ocean surveying. In such applications, robots may only have knowledge of their immediate surroundings or be faced…

How can a robot safely navigate around people with complex motion patterns? Deep Reinforcement Learning (DRL) in simulation holds some promise, but much prior work relies on simulators that fail to capture the nuances of real human motion.…

Modern navigation algorithms based on deep reinforcement learning (RL) show promising efficiency and robustness. However, most deep RL algorithms operate in a risk-neutral manner, making no special attempt to shield users from relatively…

Autonomous navigation in unknown complex environment is still a hard problem, especially for small Unmanned Aerial Vehicles (UAVs) with limited computation resources. In this paper, a neural network-based reactive controller is proposed for…

Reactive collision avoidance is essential for agile robots navigating complex and dynamic environments, enabling real-time obstacle response. However, this task is inherently challenging because it requires a tight integration of…

Learning predictive world models from raw visual observations is a central challenge in reinforcement learning (RL), especially for robotics and continuous control. Conventional model-based RL frameworks directly condition future…

Autonomous navigation in dynamic environments is a complex but essential task for autonomous robots, with recent deep reinforcement learning approaches showing promising results. However, the complexity of the real world makes it infeasible…

Unmanned autonomous vehicles (UAVs) rely on effective path planning and tracking control to accomplish complex tasks in various domains. Reinforcement Learning (RL) methods are becoming increasingly popular in control applications, as they…

Large-scale online ride-sharing platforms have substantially transformed our lives by reallocating transportation resources to alleviate traffic congestion and promote transportation efficiency. An efficient fleet management strategy not…