相关论文: Curriculum Learning for Safe Mapless Navigation

Multi-Agent Reinforcement Learning (MARL) algorithms are widely adopted in tackling complex tasks that require collaboration and competition among agents in dynamic Multi-Agent Systems (MAS). However, learning such tasks from scratch is…

Model-free Reinforcement Learning (RL) offers an attractive approach to learn control policies for high-dimensional systems, but its relatively poor sample complexity often forces training in simulated environments. Even in simulation,…

We propose a method to tackle the problem of mapless collision-avoidance navigation where humans are present using 2D laser scans. Our proposed method uses ego-safety to measure collision from the robot's perspective while social-safety to…

Implementing an autonomous vehicle that is able to output feasible, smooth and efficient trajectories is a long-standing challenge. Several approaches have been considered, roughly falling under two categories: rule-based and learning-based…

Humans are good at learning on the job: We learn how to solve the tasks we face as we go along. Can a model do the same? We propose an agent that assembles a task-specific curriculum, called test-time curriculum (TTC-RL), and applies…

Classical navigation planners can provide safe navigation, albeit often suboptimally and with hindered human norm compliance. ML-based, contemporary autonomous navigation algorithms can imitate more natural and humancompliant navigation,…

Deep reinforcement learning (RL) provides powerful methods for training optimal sequential decision-making agents. As collecting real-world interactions can entail additional costs and safety risks, the common paradigm of sim2real conducts…

Efficient instruction tuning aims to enhance the ultimate performance of large language models (LLMs) trained on a given instruction dataset. Curriculum learning as a typical data organization strategy has shown preliminary effectiveness in…

Reinforcement learning (RL) -- algorithms that teach artificial agents to interact with environments by maximising reward signals -- has achieved significant success in recent years. These successes have been facilitated by advances in…

Curriculum learning (CL) aims to increase the performance of a learner on a given task by applying a specialized learning strategy. This strategy focuses on either the dataset, the task, or the model. There is little to no work analysing…

The high cost of real-world data for robotics Reinforcement Learning (RL) leads to the wide usage of simulators. Despite extensive work on building better dynamics models for simulators to match with the real world, there is another,…

Recent breakthroughs both in reinforcement learning and trajectory optimization have made significant advances towards real world robotic system deployment. Reinforcement learning (RL) can be applied to many problems without needing any…

Deep reinforcement learning (RL) approaches have been broadly applied to a large number of robotics tasks, such as robot manipulation and autonomous driving. However, an open problem in deep RL is learning policies that are robust to…

Curriculum Learning for Reinforcement Learning is an increasingly popular technique that involves training an agent on a sequence of intermediate tasks, called a Curriculum, to increase the agent's performance and learning speed. This paper…

We learn end-to-end point-to-point and path-following navigation behaviors that avoid moving obstacles. These policies receive noisy lidar observations and output robot linear and angular velocities. The policies are trained in small,…

In this paper we present the first safe system for full control of self-driving vehicles trained from human demonstrations and deployed in challenging, real-world, urban environments. Current industry-standard solutions use rule-based…

This work explores the potential of brief inter-agent knowledge transfer (KT) to enhance the robotic object goal navigation (ON) in unseen and unfamiliar environments. Drawing on the analogy of human travelers acquiring local knowledge, we…

In this paper, we consider the problem of building learning agents that can efficiently learn to navigate in constrained environments. The main goal is to design agents that can efficiently learn to understand and generalize to different…

This paper presents a Pre-Training Deep Reinforcement Learning(DRL) for avoidance navigation without map for mobile robots which map raw sensor data to control variable and navigate in an unknown environment. The efficient offline training…

Reinforcement learning (RL) is a promising approach. However, success is limited to real-world applications, because ensuring safe exploration and facilitating adequate exploitation is a challenge for controlling robotic systems with…