相关论文: Motion Planner Augmented Reinforcement Learning fo…

Training robots for operation in the real world is a complex, time consuming and potentially expensive task. Despite significant success of reinforcement learning in games and simulations, research in real robot applications has not been…

Reinforcement learning (RL) is a powerful tool for optimal control that has found great success in Atari games, the game of Go, robotic control, and building optimization. RL is also very brittle; agents often overfit to their training…

Autonomous driving faces challenges in navigating complex real-world traffic, requiring safe handling of both common and critical scenarios. Reinforcement learning (RL), a prominent method in end-to-end driving, enables agents to learn…

Reinforcement learning (RL)-based motion imitation methods trained on demonstration data can effectively learn natural and expressive motions with minimal reward engineering but often struggle to generalize to novel environments. We address…

This paper presents a Pre-Training Deep Reinforcement Learning(DRL) for avoidance navigation without map for mobile robots which map raw sensor data to control variable and navigate in an unknown environment. The efficient offline training…

Non-prehensile pushing to move and reorient objects to a goal is a versatile loco-manipulation skill. In the real world, the object's physical properties and friction with the floor contain significant uncertainties, which makes the task…

When transferring a Deep Reinforcement Learning model from simulation to the real world, the performance could be unsatisfactory since the simulation cannot imitate the real world well in many circumstances. This results in a long period of…

Capturing and simulating intelligent adaptive behaviours within spatially explicit individual-based models remains an ongoing challenge for researchers. While an ever-increasing abundance of real-world behavioural data are collected, few…

Optimal decision making with limited or no information in stochastic environments where multiple agents interact is a challenging topic in the realm of artificial intelligence. Reinforcement learning (RL) is a popular approach for arriving…

Academic research in the field of autonomous vehicles has reached high popularity in recent years related to several topics as sensor technologies, V2X communications, safety, security, decision making, control, and even legal and…

Motion planning of autonomous agents in partially known environments with incomplete information is a challenging problem, particularly for complex tasks. This paper proposes a model-free reinforcement learning approach to address this…

Autonomous drifting is a complex and crucial maneuver for safety-critical scenarios like slippery roads and emergency collision avoidance, requiring precise motion planning and control. Traditional motion planning methods often struggle…

We propose a deep reinforcement learning (DRL) methodology for the tracking, obstacle avoidance, and formation control of nonholonomic robots. By separating vision-based control into a perception module and a controller module, we can train…

In motion simulation, motion cueing algorithms are used for the trajectory planning of the motion simulator platform, where workspace limitations prevent direct reproduction of reference trajectories. Strategies such as motion washout,…

Many real-world applications can be formulated as multi-agent cooperation problems, such as network packet routing and coordination of autonomous vehicles. The emergence of deep reinforcement learning (DRL) provides a promising approach for…

Reinforcement learning (RL) -- algorithms that teach artificial agents to interact with environments by maximising reward signals -- has achieved significant success in recent years. These successes have been facilitated by advances in…

Sampling-based motion planning is a well-established approach in autonomous driving, valued for its modularity and analytical tractability. In complex urban scenarios, however, uniform or heuristic sampling often produces many infeasible or…

When learning to behave in a stochastic environment where safety is critical, such as driving a vehicle in traffic, it is natural for human drivers to plan fallback strategies as a backup to use if ever there is an unexpected change in the…

The navigation of robots in dynamic urban environments, requires elaborated anticipative strategies for the robot to avoid collisions with dynamic objects, like bicycles or pedestrians, and to be human aware. We have developed and analyzed…

Making sophisticated, robust, and safe sequential decisions is at the heart of intelligent systems. This is especially critical for planning in complex multi-agent environments, where agents need to anticipate other agents' intentions and…