相关论文: How To Train Your HERON

Deep reinforcement learning (DRL) is a promising method to learn control policies for robots only from demonstration and experience. To cover the whole dynamic behaviour of the robot, DRL training is an active exploration process typically…

Deep Reinforcement Learning (Deep RL) has been in the spotlight for the past few years, due to its remarkable abilities to solve problems which were considered to be practically unsolvable using traditional Machine Learning methods.…

Deep reinforcement learning (DRL) agents are trained through trial-and-error interactions with the environment. This leads to a long training time for dense neural networks to achieve good performance. Hence, prohibitive computation and…

Despite the increasing adoption of Deep Reinforcement Learning (DRL) for Autonomous Surface Vehicles (ASVs), there still remain challenges limiting real-world deployment. In this paper, we first integrate buoyancy and hydrodynamics models…

Deep Reinforcement learning (DRL) is used to enable autonomous navigation in unknown environments. Most research assume perfect sensor data, but real-world environments may contain natural and artificial sensor noise and denial. Here, we…

In this paper, we study the application of DRL algorithms in the context of local navigation problems, in which a robot moves towards a goal location in unknown and cluttered workspaces equipped only with limited-range exteroceptive…

Since deep neural networks' resurgence, reinforcement learning has gradually strengthened and surpassed humans in many conventional games. However, it is not easy to copy these accomplishments to autonomous driving because state spaces are…

The industrial application of Deep Reinforcement Learning (DRL) is frequently slowed down because of the inability to generate the experience required to train the models. Collecting data often involves considerable time and economic effort…

Urban autonomous driving decision making is challenging due to complex road geometry and multi-agent interactions. Current decision making methods are mostly manually designing the driving policy, which might result in sub-optimal solutions…

In this paper, we propose a navigation algorithm oriented to multi-agent environment. This algorithm is expressed as a hierarchical framework that contains a Hidden Markov Model (HMM) and a Deep Reinforcement Learning (DRL) structure. For…

Reinforcement Learning (RL) is essential for evolving Large Language Models (LLMs) into autonomous agents capable of long-horizon planning, yet a practical recipe for scaling RL in complex, multi-turn environments remains elusive. This…

Deep Reinforcement Learning (DRL) has been applied successfully to many robotic applications. However, the large number of trials needed for training is a key issue. Most of existing techniques developed to improve training efficiency (e.g.…

Homing and navigation are fundamental behaviors in biological systems that enable agents to reliably reach a target under uncertainty. We present a Reinforcement Learning (RL) framework to model adaptive homing in continuous two-dimensional…

Deep learning often requires the manual collection and annotation of a training set. On robotic platforms, can we partially automate this task by training the robot to be curious, i.e., to seek out beneficial training information in the…

Deep Reinforcement Learning (DRL) aims to create intelligent agents that can learn to solve complex problems efficiently in a real-world environment. Typically, two learning goals: adaptation and generalization are used for baselining DRL…

Reinforcement learning (RL) algorithms have been around for decades and employed to solve various sequential decision-making problems. These algorithms however have faced great challenges when dealing with high-dimensional environments. The…

Large Language Model (LLM) agents can leverage multiple turns and tools to solve complex tasks, with prompt-based approaches achieving strong performance. This work demonstrates that Reinforcement Learning (RL) can push capabilities…

In this paper, we propose a principled deep reinforcement learning (RL) approach that is able to accelerate the convergence rate of general deep neural networks (DNNs). With our approach, a deep RL agent (synonym for optimizer in this work)…

Autonomous navigation in dynamic environments is a complex but essential task for autonomous robots, with recent deep reinforcement learning approaches showing promising results. However, the complexity of the real world makes it infeasible…

Reinforcement Learning (RL) has emerged as a powerful paradigm in Artificial Intelligence (AI), enabling agents to learn optimal behaviors through interactions with their environments. Drawing from the foundations of trial and error, RL…