相关论文: Foresight Social-aware Reinforcement Learning for …

In this paper, we present an approach for learning collision-free robot trajectories in the presence of moving obstacles. As a first step, we train a backup policy to generate evasive movements from arbitrary initial robot states using…

Recently, safe reinforcement learning (RL) with the actor-critic structure for continuous control tasks has received increasing attention. It is still challenging to learn a near-optimal control policy with safety and convergence…

The exponentially increasing advances in robotics and machine learning are facilitating the transition of robots from being confined to controlled industrial spaces to performing novel everyday tasks in domestic and urban environments. In…

Mobile robot navigation in complex and dynamic environments is a challenging but important problem. Reinforcement learning approaches fail to solve these tasks efficiently due to reward sparsities, temporal complexities and…

Social navigation has been gaining attentions with the growth in machine intelligence. Since reinforcement learning can select an action in the prediction phase at a low computational cost, it has been formulated in a social navigation…

Collision avoidance is a crucial task in vision-guided autonomous navigation. Solutions based on deep reinforcement learning (DRL) has become increasingly popular. In this work, we proposed several novel agent state and reward function…

Social navigation in densely populated dynamic environments poses a significant challenge for autonomous mobile robots, requiring advanced strategies for safe interaction. Existing reinforcement learning (RL)-based methods require over…

Ensuring safe and efficient operation of collaborative robots in human environments is challenging, especially in dynamic settings where both obstacle motion and tasks change over time. Current robot controllers typically assume full…

In this paper is proposed an inclusion of the Social Force Model (SFM) into a concrete Deep Reinforcement Learning (RL) framework for robot navigation. These types of techniques have demonstrated to be useful to deal with different types of…

It is challenging for a mobile robot to navigate through human crowds. Existing approaches usually assume that pedestrians follow a predefined collision avoidance strategy, like social force model (SFM) or optimal reciprocal collision…

Navigating urban environments represents a complex task for automated vehicles. They must reach their goal safely and efficiently while considering a multitude of traffic participants. We propose a modular decision making algorithm to…

We present a novel learning-based collision avoidance algorithm, CrowdSteer, for mobile robots operating in dense and crowded environments. Our approach is end-to-end and uses multiple perception sensors such as a 2-D lidar along with a…

Autonomous drifting is a complex and crucial maneuver for safety-critical scenarios like slippery roads and emergency collision avoidance, requiring precise motion planning and control. Traditional motion planning methods often struggle…

Autonomous navigation is an essential capability of smart mobility for mobile robots. Traditional methods must have the environment map to plan a collision-free path in workspace. Deep reinforcement learning (DRL) is a promising technique…

Socially aware robot navigation is a planning paradigm where the robot navigates in human environments and tries to adhere to social constraints while interacting with the humans in the scene. These navigation strategies were further…

Autonomous mobile robots need to perceive the environments with their onboard sensors (e.g., LiDARs and RGB cameras) and then make appropriate navigation decisions. In order to navigate human-inhabited public spaces, such a navigation task…

Safety is a critical concern when deploying reinforcement learning agents for realistic tasks. Recently, safe reinforcement learning algorithms have been developed to optimize the agent's performance while avoiding violations of safety…

The application of reinforcement learning algorithms onto real life problems always bears the challenge of filtering the environmental state out of raw sensor readings. While most approaches use heuristics, biology suggests that there must…

Multi-robot navigation is a challenging task in which multiple robots must be coordinated simultaneously within dynamic environments. We apply deep reinforcement learning (DRL) to learn a decentralized end-to-end policy which maps raw…

Sustainability is becoming increasingly critical in the maritime transport, encompassing both environmental and social impacts, such as Greenhouse Gas (GHG) emissions and navigational safety. Traditional vessel navigation heavily relies on…