相关论文: HRL4IN: Hierarchical Reinforcement Learning for In…

Designing intelligent microrobots that can autonomously navigate and perform instructed routines in blood vessels, a complex and crowded environment with obstacles including dense cells, different flow patterns and diverse vascular…

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…

The low-altitude Internet of Things (IoT), supported by unmanned aerial vehicles (UAVs), provides ground sensing networks with advanced real-time monitoring and data collection. To maximize data collection volume from distributed IoT nodes,…

Large language model (LLM) agents have demonstrated strong capabilities in complex interactive decision-making tasks. However, existing LLM agents typically rely on increasingly long interaction histories, resulting in high computational…

Reconfigurable intelligent surface (RIS) is emerging as a promising technology to boost the energy efficiency (EE) of 5G beyond and 6G networks. Inspired by this potential, in this paper, we investigate the RIS-assisted energy-efficient…

Two common approaches to sequential decision-making are AI planning (AIP) and reinforcement learning (RL). Each has strengths and weaknesses. AIP is interpretable, easy to integrate with symbolic knowledge, and often efficient, but requires…

Shared autonomy is a promising paradigm in robotic systems, particularly within the maritime domain, where complex, high-risk, and uncertain environments necessitate effective human-robot collaboration. This paper investigates the…

Traditional indoor robot navigation methods provide a reliable solution when adapted to constrained scenarios, but lack flexibility or require manual re-tuning when deployed in more complex settings. In contrast, learning-based approaches…

This paper develops LongNav-R1, an end-to-end multi-turn reinforcement learning (RL) framework designed to optimize Visual-Language-Action (VLA) models for long-horizon navigation. Unlike existing single-turn paradigm, LongNav-R1…

Mechanical thrombectomy (MT) is typically the optimal treatment for acute ischemic stroke involving large vessel occlusions, but access is limited due to geographic and logistical barriers. Reinforcement learning (RL) shows promise in…

This paper investigates the application of reinforcement learning (RL) to multi-robot social formation navigation, a critical capability for enabling seamless human-robot coexistence. While RL offers a promising paradigm, the inherent…

Mobile robot navigation has seen extensive research in the last decades. The aspect of collaboration with robots and humans sharing workspaces will become increasingly important in the future. Therefore, the next generation of mobile robots…

Reinforcement learning (RL) is effective in many robotic applications, but it requires extensive exploration of the state-action space, during which behaviors can be unsafe. This significantly limits its applicability to large robots with…

We study a modular approach to tackle long-horizon mobile manipulation tasks for object rearrangement, which decomposes a full task into a sequence of subtasks. To tackle the entire task, prior work chains multiple stationary manipulation…

Hierarchical reinforcement learning (HRL) provides a promising solution for complex tasks with sparse rewards of intelligent agents, which uses a hierarchical framework that divides tasks into subgoals and completes them sequentially.…

Autonomous mobile manipulation in unstructured warehouses requires a balance between efficient large-scale navigation and high-precision object interaction. Traditional end-to-end learning approaches often struggle to handle the conflicting…

Hierarchical model-based reinforcement learning (HMBRL) aims to combine the benefits of better sample efficiency of model based reinforcement learning (MBRL) with the abstraction capability of hierarchical reinforcement learning (HRL) to…

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…

Hierarchical reinforcement learning (HRL) has seen widespread interest as an approach to tractable learning of complex modular behaviors. However, existing work either assume access to expert-constructed hierarchies, or use…

Embodied artificial intelligence (AI) tasks shift from tasks focusing on internet images to active settings involving embodied agents that perceive and act within 3D environments. In this paper, we investigate the target-driven visual…