相关论文: Closing the Planning-Learning Loop with Applicatio…

In Meta-Reinforcement Learning (meta-RL) an agent is trained on a set of tasks to prepare for and learn faster in new, unseen, but related tasks. The training tasks are usually hand-crafted to be representative of the expected distribution…

Real-time path planning in constrained environments remains a fundamental challenge for autonomous systems. Traditional classical planners, while effective under perfect perception assumptions, are often sensitive to real-world perception…

Legged robots are able to navigate complex terrains by continuously interacting with the environment through careful selection of contact sequences and timings. However, the combinatorial nature behind contact planning hinders the…

A central problem in artificial intelligence is that of planning to maximize future reward under uncertainty in a partially observable environment. In this paper we propose and demonstrate a novel algorithm which accurately learns a model…

Widespread development of driverless vehicles has led to the formation of autonomous racing, where technological development is accelerated by the high speeds and competitive environment of motorsport. A particular challenge for an…

Autonomous navigation is an essential capability of smart mobility for mobile robots. Traditional methods must have the environment map to plan a collision-free path in workspace. Deep reinforcement learning (DRL) is a promising technique…

For autonomous vehicles integrating onto roadways with human traffic participants, it requires understanding and adapting to the participants' intention and driving styles by responding in predictable ways without explicit communication.…

Accurate traffic prediction, especially predicting traffic conditions several days in advance is essential for intelligent transportation systems (ITS). Such predictions enable mid- and long-term traffic optimization, which is crucial for…

Many potential applications of reinforcement learning (RL) are stymied by the large numbers of samples required to learn an effective policy. This is especially true when applying RL to real-world control tasks, e.g. in the sciences or…

We consider the problem of grasping in clutter. While there have been motion planners developed to address this problem in recent years, these planners are mostly tailored for open-loop execution. Open-loop execution in this domain,…

To improve safety and energy efficiency, autonomous vehicles are expected to drive smoothly in most situations, while maintaining their velocity below a predetermined speed limit. However, some scenarios such as low road adherence or…

Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…

We present a novel hybrid learning-assisted planning method, named HyPlan, for solving the collision-free navigation problem for self-driving cars in partially observable traffic environments. HyPlan combines methods for multi-agent…

Dense urban traffic environments can produce situations where accurate prediction and dynamic models are insufficient for successful autonomous vehicle motion planning. We investigate how an autonomous agent can safely negotiate with other…

Popular Monte-Carlo tree search (MCTS) algorithms for online planning, such as epsilon-greedy tree search and UCT, aim at rapidly identifying a reasonably good action, but provide rather poor worst-case guarantees on performance improvement…

As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…

The release of nuPlan marks a new era in vehicle motion planning research, offering the first large-scale real-world dataset and evaluation schemes requiring both precise short-term planning and long-horizon ego-forecasting. Existing…

Realistic traffic simulation is crucial for developing self-driving software in a safe and scalable manner prior to real-world deployment. Typically, imitation learning (IL) is used to learn human-like traffic agents directly from…

Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on…

This paper introduces COR-MCTS (Conservation of Resources - Monte Carlo Tree Search), a novel tactical decision-making approach for automated driving focusing on maneuver planning over extended horizons. Traditional decision-making…