相关论文: Reward Shaping with Subgoals for Social Navigation

The objective of a reinforcement learning agent is to discover better actions through exploration. However, typical exploration techniques aim to maximize rewards, often incurring high costs in both exploration and learning processes. We…

As the demand for mobile robots continues to increase, social navigation has emerged as a critical task, driving active research into deep reinforcement learning (RL) approaches. However, because pedestrian dynamics and social conventions…

Safe reinforcement learning is a promising path toward applying reinforcement learning algorithms to real-world problems, where suboptimal behaviors may lead to actual negative consequences. In this work, we focus on the setting where…

Model-based reinforcement learning (MBRL) has gained much attention for its ability to learn complex behaviors in a sample-efficient way: planning actions by generating imaginary trajectories with predicted rewards. Despite its success, we…

Autonomous navigation in complex and partially observable environments remains a central challenge in robotics. Several bio-inspired models of mapping and navigation based on place cells in the mammalian hippocampus have been proposed. This…

Simulating trajectories of virtual crowds is a commonly encountered task in Computer Graphics. Several recent works have applied Reinforcement Learning methods to animate virtual agents, however they often make different design choices when…

Modern robotics applications that involve human-robot interaction require robots to be able to communicate with humans seamlessly and effectively. Natural language provides a flexible and efficient medium through which robots can exchange…

Mobile robot navigation in dynamic environments with pedestrian traffic is a key challenge in the development of autonomous mobile service robots. Recently, deep reinforcement learning-based methods have been actively studied and have…

Preference-based reinforcement learning (PbRL) can enable robots to learn to perform tasks based on an individual's preferences without requiring a hand-crafted reward function. However, existing approaches either assume access to a…

Taking inspiration from how the brain coordinates multiple learning systems is an appealing strategy to endow robots with more flexibility. One of the expected advantages would be for robots to autonomously switch to the least costly system…

Robot navigation is a crucial task with applications to social robots in dynamic human environments. While Reinforcement Learning (RL) has shown great promise for this problem, the policy quality is highly sensitive to the specification of…

Artificial Intelligence has been used to help human complete difficult tasks in complicated environments by providing optimized strategies for decision-making or replacing the manual labour. In environments including multiple agents, such…

To convey desired behavior to a Reinforcement Learning (RL) agent, a designer must choose a reward function for the environment, arguably the most important knob designers have in interacting with RL agents. Although many reward functions…

Reward design for reinforcement learning agents can be difficult in situations where one not only wants the agent to achieve some effect in the world but where one also cares about how that effect is achieved. For example, we might wish for…

Crowd simulation is important for video-games design, since it enables to populate virtual worlds with autonomous avatars that navigate in a human-like manner. Reinforcement learning has shown great potential in simulating virtual crowds,…

One of the fundamental challenges in reinforcement learning (RL) is the one of data efficiency: modern algorithms require a very large number of training samples, especially compared to humans, for solving environments with high-dimensional…

Recent advances in the field of machine learning have led to new ways for mobile robots to acquire advanced navigational capabilities. However, these learning-based methods raise the possibility that learned navigation behaviors may not…

Goal-conditioned reinforcement learning (RL) is an interesting extension of the traditional RL framework, where the dynamic environment and reward sparsity can cause conventional learning algorithms to fail. Reward shaping is a practical…

Reinforcement learning can enable complex, adaptive behavior to be learned automatically for autonomous robotic platforms. However, practical deployment of reinforcement learning methods must contend with the fact that the training process…

Mastering robotic manipulation skills through reinforcement learning (RL) typically requires the design of shaped reward functions. Recent developments in this area have demonstrated that using sparse rewards, i.e. rewarding the agent only…