相关论文: Latent Imagination Facilitates Zero-Shot Transfer …

Vision and learning have made significant progress that could improve robotics policies for complex tasks and environments. Learning deep neural networks for image understanding, however, requires large amounts of domain-specific visual…

This paper explores the application of deep reinforcement learning (RL) techniques in the domain of autonomous self-driving car racing. Motivated by the rise of AI-driven mobility and autonomous racing events, the project aims to develop an…

Simulation-to-reality reinforcement learning (RL) faces the critical challenge of reconciling discrepancies between simulated and real-world dynamics, which can severely degrade agent performance. A promising approach involves learning…

This paper argues that model-free reinforcement learning (RL) agents, while lacking explicit planning mechanisms, exhibit behaviours that can be analogised to System 1 ("thinking fast") processes in human cognition. Unlike model-based RL…

Visual navigation by mobile robots is classically tackled through SLAM plus optimal planning, and more recently through end-to-end training of policies implemented as deep networks. While the former are often limited to waypoint planning,…

Non-holonomic vehicle motion has been studied extensively using physics-based models. Common approaches when using these models interpret the wheel/ground interactions using a linear tire model and thus may not fully capture the nonlinear…

Despite the recent success of deep reinforcement learning (RL), domain adaptation remains an open problem. Although the generalization ability of RL agents is critical for the real-world applicability of Deep RL, zero-shot policy transfer…

Decision Transformer-based decision-making agents have shown the ability to generalize across multiple tasks. However, their performance relies on massive data and computation. We argue that this inefficiency stems from the forgetting…

World model-based policy evaluation is a practical proxy for testing real-world robot control by rolling out candidate actions in action-conditioned video diffusion models. As these models increasingly adopt latent diffusion modeling (LDM),…

A common problem for agents operating in real-world environments is that the response of an environment to their actions may be non-deterministic and observed through noise. This renders environmental state and progress towards completing a…

Reinforcement Learning (RL) algorithms can solve challenging control problems directly from image observations, but they often require millions of environment interactions to do so. Recently, model-based RL algorithms have greatly improved…

Unlike reinforcement learning (RL) agents, humans remain capable multitaskers in changing environments. In spite of only experiencing the world through their own observations and interactions, people know how to balance focusing on tasks…

The imagination of the surrounding environment based on experience and semantic cognition has great potential to extend the limited observations and provide more information for mapping, collision avoidance, and path planning. This paper…

End-to-end autonomous driving provides a feasible way to automatically maximize overall driving system performance by directly mapping the raw pixels from a front-facing camera to control signals. Recent advanced methods construct a latent…

Safe and efficient autonomous driving maneuvers in an interactive and complex environment can be considerably challenging due to the unpredictable actions of other surrounding agents that may be cooperative or adversarial in their…

In the same way that generative models today conduct most of their training in a self-supervised fashion, how can agentic models conduct their training in a self-supervised fashion, interactively exploring, learning, and preparing to…

Reinforcement learning (RL) agents make decisions using nothing but observations from the environment, and consequently, heavily rely on the representations of those observations. Though some recent breakthroughs have used vector-based…

This paper studies the problem of autonomous exploration under localization uncertainty for a mobile robot with 3D range sensing. We present a framework for self-learning a high-performance exploration policy in a single simulation…

World models are emerging as a transformative paradigm in artificial intelligence, enabling agents to construct internal representations of their environments for predictive reasoning, planning, and decision-making. By learning latent…

In the field of Autonomous Driving, the system controlling the vehicle can be seen as an agent acting in a complex environment and thus naturally fits into the modern framework of Reinforcement Learning. However, learning to drive can be a…