相关论文: Asynchronous Curriculum Experience Replay: A Deep …
Deep reinforcement learning (DRL) has achieved groundbreaking successes in a wide variety of robotic applications. A natural consequence is the adoption of this paradigm for safety-critical tasks, where human safety and expensive hardware…
A major challenge in the Deep RL (DRL) community is to train agents able to generalize their control policy over situations never seen in training. Training on diverse tasks has been identified as a key ingredient for good generalization,…
Connected and automated vehicles (CAVs) have recently gained prominence in traffic research due to advances in communication technology and autonomous driving. Various longitudinal control strategies for CAVs have been developed to enhance…
The Autonomy of Unmanned Aerial Vehicles (UAVs) in indoor environments poses significant challenges due to the lack of reliable GPS signals in enclosed spaces such as warehouses, factories, and indoor facilities. Micro Aerial Vehicles…
Curriculum learning has demonstrated substantial effectiveness in robot learning. However, it still faces limitations when scaling to complex, wide-ranging task spaces. Such task spaces often lack a well-defined difficulty structure, making…
Deep reinforcement learning (RL) has made it possible to solve complex robotics problems using neural networks as function approximators. However, the policies trained on stationary environments suffer in terms of generalization when…
Safe and efficient autonomous driving maneuvers in an interactive and complex environment can be considerably challenging due to the unpredictable actions of other surrounding agents that may be cooperative or adversarial in their…
Autonomous drone navigation in dynamic environments remains a critical challenge, especially when dealing with unpredictable scenarios including fast-moving objects with rapidly changing goal positions. While traditional planners and…
This paper presents Deep-PANTHER, a learning-based perception-aware trajectory planner for unmanned aerial vehicles (UAVs) in dynamic environments. Given the current state of the UAV, and the predicted trajectory and size of the obstacle,…
Path planning methods for the unmanned aerial vehicle (UAV) in goods delivery have drawn great attention from industry and academics because of its flexibility which is suitable for many situations in the "Last Kilometer" between customer…
An exciting and promising frontier for Deep Reinforcement Learning (DRL) is its application to real-world robotic systems. While modern DRL approaches achieved remarkable successes in many robotic scenarios (including mobile robotics,…
Obstacle avoidance for small unmanned aircraft is vital for the safety of future urban air mobility (UAM) and Unmanned Aircraft System (UAS) Traffic Management (UTM). There are many techniques for real-time robust drone guidance, but many…
Unmanned aerial vehicles (UAVs) are increasingly used to support time-critical medical supply delivery, providing rapid and flexible logistics during emergencies and resource shortages. However, effective deployment of UAV fleets requires…
This paper presents the first end-to-end framework that combines guidance, navigation, and centralised task allocation for multiple UAVs performing autonomous search-and-rescue (SAR) in GNSS-denied indoor environments. A Twin Delayed Deep…
Embodied agents, such as robots and virtual characters, must continuously select actions to execute tasks effectively, solving complex sequential decision-making problems. Given the difficulty of designing such controllers manually,…
Empowered by deep neural networks, deep reinforcement learning (DRL) has demonstrated tremendous empirical successes in various domains, including games, health care, and autonomous driving. Despite these advancements, DRL is still…
Cooperative control of groups of autonomous vehicles (AVs), i.e., platoons, is a promising direction to improving the efficiency of autonomous transportation systems. In this context, distributed co-optimization of both vehicle speed and…
Dexterous manipulation tasks usually have multiple objectives, and the priorities of these objectives may vary at different phases of a manipulation task. Varying priority makes a robot hardly or even failed to learn an optimal policy with…
This paper investigates an interference-aware joint path planning and power allocation mechanism for a cellular-connected unmanned aerial vehicle (UAV) in a sparse suburban environment. The UAV's goal is to fly from an initial point and…
Dynamic material handling (DMH) involves the assignment of dynamically arriving material transporting tasks to suitable vehicles in real time for minimising makespan and tardiness. In real-world scenarios, historical task records are…