相关论文: AGPNet -- Autonomous Grading Policy Network

Traditional decision and planning frameworks for self-driving vehicles (SDVs) scale poorly in new scenarios, thus they require tedious hand-tuning of rules and parameters to maintain acceptable performance in all foreseeable cases.…

Interactive grasping from clutter, akin to human dexterity, is one of the longest-standing problems in robot learning. Challenges stem from the intricacies of visual perception, the demand for precise motor skills, and the complex interplay…

This paper develops an efficient multi-agent deep reinforcement learning algorithm for cooperative controls in powergrids. Specifically, we consider the decentralized inverter-based secondary voltage control problem in distributed…

Many currently deployed Reinforcement Learning agents work in an environment shared with humans, be them co-workers, users or clients. It is desirable that these agents adjust to people's preferences, learn faster thanks to their help, and…

We propose a formalism for shared control, which is the problem of defining a policy that blends user control and autonomous control. The challenge posed by the shared autonomy system is to maintain user control authority while allowing the…

Autonomous driving is a multi-agent setting where the host vehicle must apply sophisticated negotiation skills with other road users when overtaking, giving way, merging, taking left and right turns and while pushing ahead in unstructured…

Recent advancements in motion planning for Autonomous Vehicles (AVs) show great promise in using expert driver behaviors in non-stationary driving environments. However, learning only through expert drivers needs more generalizability to…

Recently, the Deep Planning Network (PlaNet) approach was introduced as a model-based reinforcement learning method that learns environment dynamics directly from pixel observations. This architecture is useful for learning tasks in which…

With the flourishing development of intelligent warehousing systems, the technology of Automated Guided Vehicle (AGV) has experienced rapid growth. Within intelligent warehousing environments, AGV is required to safely and rapidly plan an…

Reinforcement learning considers the problem of finding policies that maximize an expected cumulative reward in a Markov decision process with unknown transition probabilities. In this paper we consider the problem of finding optimal…

Despite the recent successes of reinforcement learning in games and robotics, it is yet to become broadly practical. Sample efficiency and unreliable performance in rare but challenging scenarios are two of the major obstacles. Drawing…

Agentic AI networking (AgentNet) is a novel AI-native networking paradigm in which a large number of specialized AI agents collaborate to perform autonomous decision-making, dynamic environmental adaptation, and complex missions. It has the…

This work addresses the problem of learning approach-constrained data-driven grasp samplers. To this end, we propose GoNet: a generative grasp sampler that can constrain the grasp approach direction to a subset of SO(3). The key insight is…

Cooperative multi-agent problems often require coordination between agents, which can be achieved through a centralized policy that considers the global state. Multi-agent policy gradient (MAPG) methods are commonly used to learn such…

Deep reinforcement learning in continuous domains focuses on learning control policies that map states to distributions over actions that ideally concentrate on the optimal choices in each step. In multi-agent navigation problems, the…

This paper presents the Variation Network (VarNet), a generative model providing means to manipulate the high-level attributes of a given input. The originality of our approach is that VarNet is not only capable of handling pre-defined…

In this work, we propose and explore Deep Graph Value Network (DeepGV) as a promising method to work around sample complexity in deep reinforcement-learning agents using a message-passing mechanism. The main idea is that the agent should be…

We propose an efficient multi-agent reinforcement learning approach to derive equilibrium strategies for multi-agents who are participating in a Markov game. Mainly, we are focused on obtaining decentralized policies for agents to maximize…

In this paper, we propose a novel normalization method called gradient normalization (GN) to tackle the training instability of Generative Adversarial Networks (GANs) caused by the sharp gradient space. Unlike existing work such as gradient…

Most reinforcement learning algorithms are inefficient for learning multiple tasks in complex robotic systems, where different tasks share a set of actions. In such environments a compound policy may be learnt with shared neural network…