相关论文: Toward Agile Maneuvers in Highly Constrained Space…

Safe navigation is essential for autonomous systems operating in hazardous environments. Traditional planning methods excel at long-horizon tasks but rely on a predefined graph with fixed distance metrics. In contrast, safe Reinforcement…

This paper presents a Deep Reinforcement Learning based navigation approach in which we define the occupancy observations as heuristic evaluations of motion primitives, rather than using raw sensor data. Our method enables fast mapping of…

In robot navigation, generalizing quickly to unseen environments is essential. Hierarchical methods inspired by human navigation have been proposed, typically consisting of a high-level landmark proposer and a low-level controller. However,…

For the most comfortable, human-aware robot navigation, subjective user preferences need to be taken into account. This paper presents a novel reinforcement learning framework to train a personalized navigation controller along with an…

Development of navigation algorithms is essential for the successful deployment of robots in rapidly changing hazardous environments for which prior knowledge of configuration is often limited or unavailable. Use of traditional…

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,…

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…

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…

Video prediction models combined with planning algorithms have shown promise in enabling robots to learn to perform many vision-based tasks through only self-supervision, reaching novel goals in cluttered scenes with unseen objects.…

We embark on a hitherto unreported problem of an autonomous robot (self-driving car) navigating in dynamic scenes in a manner that reduces its localization error and eventual cumulative drift or Absolute Trajectory Error, which is…

In this paper we compare learning-based methods and classical methods for navigation in virtual environments. We construct classical navigation agents and demonstrate that they outperform state-of-the-art learning-based agents on two…

Autonomous vehicles with a self-evolving ability are expected to cope with unknown scenarios in the real-world environment. Take advantage of trial and error mechanism, reinforcement learning is able to self evolve by learning the optimal…

Efficient motion planning algorithms are of central importance for deploying robots in the real world. Unfortunately, these algorithms often drastically reduce the dimensionality of the problem for the sake of feasibility, thereby foregoing…

Reinforcement learning continuously optimizes decision-making based on real-time feedback reward signals through continuous interaction with the environment, demonstrating strong adaptive and self-learning capabilities. In recent years, it…

Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…

We propose a learning-based navigation system for reaching visually indicated goals and demonstrate this system on a real mobile robot platform. Learning provides an appealing alternative to conventional methods for robotic navigation:…

Autonomous navigation in crowded environments is an open problem with many applications, essential for the coexistence of robots and humans in the smart cities of the future. In recent years, deep reinforcement learning approaches have…

Human navigation in built environments depends on symbolic spatial information which has unrealised potential to enhance robot navigation capabilities. Information sources such as labels, signs, maps, planners, spoken directions, and…

We present a novel Deep Reinforcement Learning (DRL) based policy to compute dynamically feasible and spatially aware velocities for a robot navigating among mobile obstacles. Our approach combines the benefits of the Dynamic Window…

Autonomous wheeled-legged robots have the potential to transform logistics systems, improving operational efficiency and adaptability in urban environments. Navigating urban environments, however, poses unique challenges for robots,…