相关论文: Robot in a China Shop: Using Reinforcement Learnin…

Precise robotic manipulation skills are desirable in many industrial settings, reinforcement learning (RL) methods hold the promise of acquiring these skills autonomously. In this paper, we explicitly consider incorporating operational…

Safety is a crucial property of every robotic platform: any control policy should always comply with actuator limits and avoid collisions with the environment and humans. In reinforcement learning, safety is even more fundamental for…

This work developed a meta-learning approach that adapts the control policy on the fly to different changing conditions for robust locomotion. The proposed method constantly updates the interaction model, samples feasible sequences of…

We present a context classification pipeline to allow a robot to change its navigation strategy based on the observed social scenario. Socially-Aware Navigation considers social behavior in order to improve navigation around people. Most of…

People can learn a wide range of tasks from their own experience, but can also learn from observing other creatures. This can accelerate acquisition of new skills even when the observed agent differs substantially from the learning agent in…

Assistance robots have gained widespread attention in various industries such as logistics and human assistance. The tasks of guiding or following a human in a crowded environment such as airports or train stations to carry weight or goods…

We consider a single kinematically controlled robot with a bounded control range. The robot travels in a two-dimensional region supporting an unknown unsteady scalar field. A single sensor provides the field value at the current location of…

Enabling the capability of assessing risk and making risk-aware decisions is essential to applying reinforcement learning to safety-critical robots like drones. In this paper, we investigate a specific case where a nano quadcopter robot…

In this paper we focus on the challenging problem of place categorization and semantic mapping on a robot without environment-specific training. Motivated by their ongoing success in various visual recognition tasks, we build our system…

Understanding and following directions provided by humans can enable robots to navigate effectively in unknown situations. We present FollowNet, an end-to-end differentiable neural architecture for learning multi-modal navigation policies.…

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…

Robot navigation is a task where reinforcement learning approaches are still unable to compete with traditional path planning. State-of-the-art methods differ in small ways, and do not all provide reproducible, openly available…

We consider the task of underwater robot navigation for the purpose of collecting scientifically relevant video data for environmental monitoring. The majority of field robots that currently perform monitoring tasks in unstructured natural…

We need intelligent robots for mobile construction, the process of navigating in an environment and modifying its structure according to a geometric design. In this task, a major robot vision and learning challenge is how to exactly achieve…

This study presents a comparative analysis between single-objective and multi-objective reinforcement learning methods for training a robot to navigate effectively to an end goal while efficiently avoiding obstacles. Traditional…

This paper proposes an end-to-end deep reinforcement learning approach for mobile robot navigation with dynamic obstacles avoidance. Using experience collected in a simulation environment, a convolutional neural network (CNN) is trained to…

We present a novel approach for image-goal navigation, where an agent navigates with a goal image rather than accurate target information, which is more challenging. Our goal is to decouple the learning of navigation goal planning,…

Different methods are used for a mobile robot to go to a specific target location. These methods work in different ways for online and offline scenarios. In the offline scenario, an environment map is created once, and fixed path planning…

How can a robot navigate successfully in rich and diverse environments, indoors or outdoors, along office corridors or trails on the grassland, on the flat ground or the staircase? To this end, this work aims to address three challenges:…

This work introduces a robot navigation controller that combines event cameras and other sensors with reinforcement learning to enable real-time human-centered navigation and obstacle avoidance. Unlike conventional image-based controllers,…