相关论文: Hierarchical and Partially Observable Goal-driven …

In this paper, we present an autonomous navigation system for goal-driven exploration of unknown environments through deep reinforcement learning (DRL). Points of interest (POI) for possible navigation directions are obtained from the…

Reinforcement learning algorithms such as hindsight experience replay (HER) and hindsight goal generation (HGG) have been able to solve challenging robotic manipulation tasks in multi-goal settings with sparse rewards. HER achieves its…

Graph-based representations and message-passing modular policies constitute prominent approaches to tackling composable control problems in reinforcement learning (RL). However, as shown by recent graph deep learning literature, such local…

Object visual navigation aims to steer an agent toward a target object based on visual observations. It is highly desirable to reasonably perceive the environment and accurately control the agent. In the navigation task, we introduce an…

Zero-shot and few-shot learning aim to improve generalization to unseen concepts, which are promising in many realistic scenarios. Due to the lack of data in unseen domain, relation modeling between seen and unseen domains is vital for…

We present a visually grounded hierarchical planning algorithm for long-horizon manipulation tasks. Our algorithm offers a joint framework of neuro-symbolic task planning and low-level motion generation conditioned on the specified goal. At…

Goal representation affects the performance of Hierarchical Reinforcement Learning (HRL) algorithms by decomposing the complex learning problem into easier subtasks. Recent studies show that representations that preserve temporally abstract…

Graphs are a natural representation for systems based on relations between connected entities. Combinatorial optimization problems, which arise when considering an objective function related to a process of interest on discrete structures,…

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:…

Graph representation learning based on graph neural networks (GNNs) can greatly improve the performance of downstream tasks, such as node and graph classification. However, the general GNN models do not aggregate node information in a…

Hierarchical goal-conditioned reinforcement learning (H-GCRL) provides a powerful framework for tackling complex, long-horizon tasks by decomposing them into structured subgoals. However, its practical adoption is hindered by poor data…

Graph Neural Networks (GNNs) have become essential in interpreting relational data across various domains, yet, they often struggle to generalize to unseen graph data that differs markedly from training instances. In this paper, we…

Offline goal-conditioned reinforcement learning (GCRL) is a practical reinforcement learning paradigm that aims to learn goal-conditioned policies from reward-free offline data. Despite recent advances in hierarchical architectures such as…

Most previous studies on multi-agent reinforcement learning focus on deriving decentralized and cooperative policies to maximize a common reward and rarely consider the transferability of trained policies to new tasks. This prevents such…

Multi-agent reinforcement learning (MARL) has been increasingly explored to learn the cooperative policy towards maximizing a certain global reward. Many existing studies take advantage of graph neural networks (GNN) in MARL to propagate…

In this article, we propose a novel navigation framework that leverages a two layered graph representation of the environment for efficient large-scale exploration, while it integrates a novel uncertainty awareness scheme to handle dynamic…

This paper introduces a set of formally defined and transparent problems for reinforcement learning algorithms with the following characteristics: (1) variable degrees of observability (non-Markov observations), (2) distal and sparse…

For robotic vehicles to navigate robustly and safely in unseen environments, it is crucial to decide the most suitable navigation policy. However, most existing deep reinforcement learning based navigation policies are trained with a…

Goal-conditioned hierarchical reinforcement learning (HRL) decomposes complex reaching tasks into a sequence of simple subgoal-conditioned tasks, showing significant promise for addressing long-horizon planning in large-scale environments.…

We propose a novel approach to learn relational policies for classical planning based on learning to rank actions. We introduce a new graph representation that explicitly captures action information and propose a Graph Neural Network (GNN)…