相关论文: Flexible and Efficient Long-Range Planning Through…

Deep Reinforcement Learning (DRL) and Deep Multi-agent Reinforcement Learning (MARL) have achieved significant successes across a wide range of domains, including game AI, autonomous vehicles, robotics, and so on. However, DRL and deep MARL…

Safety in goal directed Reinforcement Learning (RL) settings has typically been handled through constraints over trajectories and have demonstrated good performance in primarily short horizon tasks. In this paper, we are specifically…

Task and Motion Planning (TAMP) algorithms solve long-horizon robotics tasks by integrating task planning with motion planning; the task planner proposes a sequence of actions towards a goal state and the motion planner verifies whether…

When using sampling-based motion planners, such as PRMs, in configuration spaces, it is difficult to determine how many samples are required for the PRM to find a solution consistently. This is relevant in Task and Motion Planning (TAMP),…

The Dynamic Task Assignment Problem (DTAP) concerns matching resources to tasks in real time while minimizing some objectives, like resource costs or task cycle time. In this work, we consider a DTAP variant where every task is a case…

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…

Humans can perform complex tasks with long-term objectives by planning, reasoning, and forecasting outcomes of actions. For embodied agents to achieve similar capabilities, they must gain knowledge of the environment transferable to novel…

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…

Reinforcement learning algorithms are typically designed for discrete-time dynamics, even though the underlying real-world control systems are often continuous in time. In this paper, we study the problem of continuous-time reinforcement…

Heuristic search is often used for motion planning and pathfinding problems, for finding the shortest path in a graph while also promising completeness and optimal efficiency. The drawback is it's space complexity, specifically storing all…

Modern e-commerce search is evolving to resolve complex user intents. While Large Language Models (LLMs) offer strong reasoning, existing LLM-based paradigms face a fundamental blindness-latency dilemma: query rewriting is agnostic to…

Problems arise when using reward functions to capture dependencies between sequential time-constrained goal states because the state-space must be prohibitively expanded to accommodate a history of successfully achieved sub-goals. Also,…

Motion planning under differential constraints, kinodynamic motion planning, is one of the canonical problems in robotics. Currently, state-of-the-art methods evolve around kinodynamic variants of popular sampling-based algorithms, such as…

Adapting quickly to dynamic, uncertain environments-often called "open worlds"-remains a major challenge in robotics. Traditional Task and Motion Planning (TAMP) approaches struggle to cope with unforeseen changes, are data-inefficient when…

In recent years, learning-based approaches have revolutionized motion planning. The data generation process for these methods involves caching a large number of high quality paths for different queries (start, goal pairs) in various…

Recent research in robot exploration and mapping has focused on sampling environmental hotspot fields. This exploration task is formalized by Low, Dolan, and Khosla (2008) in a sequential decision-theoretic planning under uncertainty…

This paper investigates exploration strategies of Deep Reinforcement Learning (DRL) methods to learn navigation policies for mobile robots. In particular, we augment the normal external reward for training DRL algorithms with intrinsic…

In warehouse and manufacturing environments, manipulation platforms are frequently deployed at conveyor belts to perform pick and place tasks. Because objects on the conveyor belts are moving, robots have limited time to pick them up. This…

Exploration is a fundamental problem in robotics. While sampling-based planners have shown high performance, they are oftentimes compute intensive and can exhibit high variance. To this end, we propose to directly learn the underlying…

Trajectory planning for teleoperated space manipulators involves challenges such as accurately modeling system dynamics, particularly in free-floating modes with non-holonomic constraints, and managing time delays that increase model…