相关论文: Zero-Shot Reinforcement Learning on Graphs for Aut…

We study zero-shot generalization in reinforcement learning-optimizing a policy on a set of training tasks to perform well on a similar but unseen test task. To mitigate overfitting, previous work explored different notions of invariance to…

Unsupervised reinforcement learning aims to acquire skills without prior goal representations, where an agent automatically explores an open-ended environment to represent goals and learn the goal-conditioned policy. However, this procedure…

This paper introduces a novel enhancement to the Decentralized Multi-Agent Reinforcement Learning (D-MARL) exploration by proposing communication-induced action space to improve the mapping efficiency of unknown environments using…

Identifying uncertainty and taking mitigating actions is crucial for safe and trustworthy reinforcement learning agents, especially when deployed in high-risk environments. In this paper, risk sensitivity is promoted in a model-based…

The use of mobile robots is being popular over the world mainly for autonomous explorations in hazardous/ toxic or unknown environments. This exploration will be more effective and efficient if the explorations in unknown environment can be…

Implicit representations such as Neural Radiance Fields (NeRF) have been shown to be very effective at novel view synthesis. However, these models typically require manual and careful human data collection for training. In this paper, we…

Although humans live in an open-ended world and endlessly face new challenges, they do not have to learn from scratch each time they face the next one. Rather, they have access to a handful of previously learned skills, which they rapidly…

Autonomous robot exploration requires a robot to efficiently explore and map unknown environments. Compared to conventional methods that can only optimize paths based on the current robot belief, learning-based methods show the potential to…

Reinforcement learning (RL) algorithms find applications in inventory control, recommender systems, vehicular traffic management, cloud computing and robotics. The real-world complications of many tasks arising in these domains makes them…

Grasping by a robot in unstructured environments is deemed a critical challenge because of the requirement for effective adaptation to a wide variation in object geometries, material properties, and other environmental factors. In this…

A serious challenge when finding influential actors in real-world social networks is the lack of knowledge about the structure of the underlying network. Current state-of-the-art methods rely on hand-crafted sampling algorithms; these…

We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated…

Real-world autonomous decision-making systems, from robots to recommendation engines, must operate in environments that change over time. While deep reinforcement learning (RL) has shown an impressive ability to learn optimal policies in…

Designing reliable decision strategies for autonomous urban driving is challenging. Reinforcement learning (RL) has been used to automatically derive suitable behavior in uncertain environments, but it does not provide any guarantee on the…

This paper presents a sensor-level mapless collision avoidance algorithm for use in mobile robots that map raw sensor data to linear and angular velocities and navigate in an unknown environment without a map. An efficient training strategy…

Many robotic exploration algorithms rely on graph structures for frontier-based exploration and dynamic path planning. However, these graphs grow rapidly, accumulating redundant information and impacting performance. We present a…

We focus on reinforcement learning (RL) in relational problems that are naturally defined in terms of objects, their relations, and object-centric actions. These problems are characterized by variable state and action spaces, and finding a…

Deep reinforcement learning (RL) can acquire complex behaviors from low-level inputs, such as images. However, real-world applications of such methods require generalizing to the vast variability of the real world. Deep networks are known…

Deep reinforcement learning has proven to be a great success in allowing agents to learn complex tasks. However, its application to actual robots can be prohibitively expensive. Furthermore, the unpredictability of human behavior in…

In autonomous robot exploration, the frontier is the border in the world map between the explored space and unexplored space. The frontier plays an important role when deciding where in the environment the robots should go explore next. We…