相关论文: LaND: Learning to Navigate from Disengagements

Navigating through unstructured environments is a basic capability of intelligent creatures, and thus is of fundamental interest in the study and development of artificial intelligence. Long-range navigation is a complex cognitive task that…

Social navigation is the capability of an autonomous agent, such as a robot, to navigate in a 'socially compliant' manner in the presence of other intelligent agents such as humans. With the emergence of autonomously navigating mobile…

Learning is an inherently continuous phenomenon. When humans learn a new task there is no explicit distinction between training and inference. As we learn a task, we keep learning about it while performing the task. What we learn and how we…

Multi-robot navigation is a challenging task in which multiple robots must be coordinated simultaneously within dynamic environments. We apply deep reinforcement learning (DRL) to learn a decentralized end-to-end policy which maps raw…

For robotic vehicles to navigate safely and efficiently in pedestrian-rich environments, it is important to model subtle human behaviors and navigation rules (e.g., passing on the right). However, while instinctive to humans, socially…

This paper presents a self-improving lifelong learning framework for a mobile robot navigating in different environments. Classical static navigation methods require environment-specific in-situ system adjustment, e.g. from human experts,…

The emergence of mobile robotics, particularly in the automotive industry, introduces a promising era of enriched user experiences and adept handling of complex navigation challenges. The realization of these advancements necessitates a…

Outdoor navigation on sidewalks in urban environments is the key technology behind important human assistive applications, such as last-mile delivery or neighborhood patrol. This paper aims to develop a quadruped robot that follows a route…

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…

Mobile robots have gained increased importance within industrial tasks such as commissioning, delivery or operation in hazardous environments. The ability to autonomously navigate safely especially within dynamic environments, is paramount…

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.…

This paper presents a self-supervised Learning from Learned Hallucination (LfLH) method to learn fast and reactive motion planners for ground and aerial robots to navigate through highly constrained environments. The recent Learning from…

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:…

Mobile robot navigation is typically regarded as a geometric problem, in which the robot's objective is to perceive the geometry of the environment in order to plan collision-free paths towards a desired goal. However, a purely geometric…

Socially aware navigation is a fast-evolving research area in robotics that enables robots to move within human environments while adhering to the implicit human social norms. The advent of Deep Reinforcement Learning (DRL) has accelerated…

Deep reinforcement learning (RL) has brought many successes for autonomous robot navigation. However, there still exists important limitations that prevent real-world use of RL-based navigation systems. For example, most learning approaches…

A promising approach to autonomous driving is machine learning. In such systems, training datasets are created that capture the sensory input to a vehicle as well as the desired response. A disadvantage of using a learned navigation system…

We investigate how a neural network can learn perception actions loops for navigation in unknown environments. Specifically, we consider how to learn to navigate in environments populated with cul-de-sacs that represent convex local minima…

The exponentially increasing advances in robotics and machine learning are facilitating the transition of robots from being confined to controlled industrial spaces to performing novel everyday tasks in domestic and urban environments. In…

We are interested in the design of autonomous robot behaviors that learn the preferences of users over continued interactions, with the goal of efficiently executing navigation behaviors in a way that the user expects. In this paper, we…