相关论文: Learning Personalized Human-Aware Robot Navigation…

We present a control approach for autonomous vehicles based on deep reinforcement learning. A neural network agent is trained to map its estimated state to acceleration and steering commands given the objective of reaching a specific target…

We address the challenge of enhancing navigation autonomy for planetary space rovers using reinforcement learning (RL). The ambition of future space missions necessitates advanced autonomous navigation capabilities for rovers to meet…

Navigating fluently around pedestrians is a necessary capability for mobile robots deployed in human environments, such as buildings and homes. While research on social navigation has focused mainly on the scalability with the number of…

Solving robotic navigation tasks via reinforcement learning (RL) is challenging due to their sparse reward and long decision horizon nature. However, in many navigation tasks, high-level (HL) task representations, like a rough floor plan,…

Robotic navigation in environments shared with other robots or humans remains challenging because the intentions of the surrounding agents are not directly observable and the environment conditions are continuously changing. Local…

In this paper we present a fully autonomous and intrinsically motivated robot usable for HRI experiments. We argue that an intrinsically motivated approach based on the Predictive Information formalism, like the one presented here, could…

In imitation and reinforcement learning, the cost of human supervision limits the amount of data that robots can be trained on. An aspirational goal is to construct self-improving robots: robots that can learn and improve on their own, from…

Human-centered AI considers human experiences with AI performance. While abundant research has been helping AI achieve superhuman performance either by fully automatic or weak supervision learning, fewer endeavors are experimenting with how…

Preference-based reinforcement learning (RL) provides a framework to train agents using human preferences between two behaviors. However, preference-based RL has been challenging to scale since it requires a large amount of human feedback…

In the area of autonomous driving, navigating off-road terrains presents a unique set of challenges, from unpredictable surfaces like grass and dirt to unexpected obstacles such as bushes and puddles. In this work, we present a novel…

The use of neural networks and reinforcement learning has become increasingly popular in autonomous vehicle control. However, the opaqueness of the resulting control policies presents a significant barrier to deploying neural network-based…

Traditional imitation learning provides a set of methods and algorithms to learn a reward function or policy from expert demonstrations. Learning from demonstration has been shown to be advantageous for navigation tasks as it allows for…

The interaction between a vehicle navigation system and the driver of the vehicle can be formulated as a model-based reinforcement learning problem, where the navigation systems (agent) must quickly adapt to the characteristics of the…

While reinforcement learning (RL) has the potential to enable robots to autonomously acquire a wide range of skills, in practice, RL usually requires manual, per-task engineering of reward functions, especially in real world settings where…

Success in racing requires a unique combination of vehicle setup, understanding of the racetrack, and human expertise. Since building and testing many different vehicle configurations in the real world is prohibitively expensive,…

Learning-based approaches, such as reinforcement learning (RL) and imitation learning (IL), have indicated superiority over rule-based approaches in complex urban autonomous driving environments, showing great potential to make intelligent…

Humans often demonstrate diverse behaviors due to their personal preferences, for instance, related to their individual execution style or personal margin for safety. In this paper, we consider the problem of integrating both path and…

Work-Related Musculoskeletal Disorders continue to be a major challenge in industrial environments, leading to reduced workforce participation, increased healthcare costs, and long-term disability. This study introduces a human-sensitive…

We present a semantically rich graph representation for indoor robotic navigation. Our graph representation encodes: semantic locations such as offices or corridors as nodes, and navigational behaviors such as enter office or cross a…

This paper introduces human-robot sensory augmentation and illustrates it on a tracking task, where performance can be improved by the exchange of sensory information between the robot and its human user. It was recently found that during…