相关论文: Goal-Aware RSS for Complex Scenarios via Program L…

Compositionality is a critical aspect of scalable system design. Reinforcement learning (RL) has recently shown substantial success in task learning, but has only recently begun to truly leverage composition. In this paper, we focus on…

When robots handle navigation tasks while avoiding collisions, they perform in crowded and complex environments not as good as in stable and homogeneous environments. This often results in a low success rate and poor efficiency. Therefore,…

Robotic systems are more present in our society everyday. In human-robot environments, it is crucial that end-users may correctly understand their robotic team-partners, in order to collaboratively complete a task. To increase action…

Goal-conditioned policies, such as those learned via imitation learning, provide an easy way for humans to influence what tasks robots accomplish. However, these robot policies are not guaranteed to execute safely or to succeed when faced…

Semantic segmentation is critical for scene understanding but demands costly pixel-wise annotations, attracting increasing attention to semi-supervised approaches to leverage abundant unlabeled data. While semi-supervised segmentation is…

Accurately and promptly predicting accidents among surrounding traffic agents from camera footage is crucial for the safety of autonomous vehicles (AVs). This task presents substantial challenges stemming from the unpredictable nature of…

During training, reinforcement learning systems interact with the world without considering the safety of their actions. When deployed into the real world, such systems can be dangerous and cause harm to their surroundings. Often, dangerous…

This paper provides an overview of how the determination of absence of unreasonable risk can be operationalized. It complements previous theoretical work published by existing developers of Automated Driving Systems (ADS) on the overall…

Reinforcement learning has shown promising results in learning neural network policies for complicated control tasks. However, the lack of formal guarantees about the behavior of such policies remains an impediment to their deployment. We…

This paper investigates a hybrid solution which combines deep reinforcement learning (RL) and classical trajectory planning for the following in front application. Here, an autonomous robot aims to stay ahead of a person as the person…

The dynamic nature of driving environments and the presence of diverse road users pose significant challenges for decision-making in autonomous driving. Deep reinforcement learning (DRL) has emerged as a popular approach to tackle this…

Multi-Agent Systems (MAS) excel at accomplishing complex objectives through the collaborative efforts of individual agents. Among the methodologies employed in MAS, Multi-Agent Reinforcement Learning (MARL) stands out as one of the most…

Reinforcement learning is a widely used approach to autonomous navigation, showing potential in various tasks and robotic setups. Still, it often struggles to reach distant goals when safety constraints are imposed (e.g., the wheeled robot…

The deployment of Large Language Models (LLMs) in robotic systems presents unique safety challenges, particularly in unpredictable environments. Although LLMs, leveraging zero-shot learning, enhance human-robot interaction and…

Autonomous drifting is a complex and crucial maneuver for safety-critical scenarios like slippery roads and emergency collision avoidance, requiring precise motion planning and control. Traditional motion planning methods often struggle…

Offline goal-conditioned reinforcement learning (GCRL) aims at solving goal-reaching tasks with sparse rewards from an offline dataset. While prior work has demonstrated various approaches for agents to learn near-optimal policies, these…

This report documents safety assurance argument templates to support the deployment and operation of autonomous systems that include machine learning (ML) components. The document presents example safety argument templates covering: the…

The separation assurance task will be extremely challenging for air traffic controllers in a complex and high density airspace environment. Deep reinforcement learning (DRL) was used to develop an autonomous separation assurance framework…

This paper develops an approach to learn a policy of a dynamical system that is guaranteed to be both provably safe and goal-reaching. Here, the safety means that a policy must not drive the state of the system to any unsafe region, while…

A significant barrier to deploying autonomous vehicles (AVs) on a massive scale is safety assurance. Several technical challenges arise due to the uncertain environment in which AVs operate such as road and weather conditions, errors in…