相关论文: HTRON:Efficient Outdoor Navigation with Sparse Rew…

Off-road navigation on vertically challenging terrain, involving steep slopes and rugged boulders, presents significant challenges for wheeled robots both at the planning level to achieve smooth collision-free trajectories and at the…

Deep reinforcement learning (DRL) has been proven its efficiency in capturing users' dynamic interests in recent literature. However, training a DRL agent is challenging, because of the sparse environment in recommender systems (RS), DRL…

Deep reinforcement learning (RL) uses model-free techniques to optimize task-specific control policies. Despite having emerged as a promising approach for complex problems, RL is still hard to use reliably for real-world applications. Apart…

Due to the highly dynamic changes in wireless network topologies, efficiently obtaining network status information and flexibly forwarding data to improve communication quality of service are important challenges. This article introduces an…

We solve active target tracking, one of the essential tasks in autonomous systems, using a deep reinforcement learning (RL) approach. In this problem, an autonomous agent is tasked with acquiring information about targets of interests using…

This paper aims to develop the intelligent traffic steering (TS) framework, which has recently been considered as one of the key developments of 3GPP for advanced 5G. Since achieving key performance indicators (KPIs) for heterogeneous…

In spite of the success of existing meta reinforcement learning methods, they still have difficulty in learning a meta policy effectively for RL problems with sparse reward. In this respect, we develop a novel meta reinforcement learning…

The increasing number of unmanned aerial vehicles (UAVs) in urban environments requires a strategy to minimize their environmental impact, both in terms of energy efficiency and noise reduction. In order to reduce these concerns, novel…

Motion planning has been an important research topic in achieving safe and flexible maneuvers for intelligent vehicles. However, it remains challenging to realize efficient and optimal planning in the presence of uncertain model dynamics.…

Aerial robots are increasingly being utilized for environmental monitoring and exploration. However, a key challenge is efficiently planning paths to maximize the information value of acquired data as an initially unknown environment is…

The traveling purchaser problem (TPP) is an important combinatorial optimization problem with broad applications. Due to the coupling between routing and purchasing, existing works on TPPs commonly address route construction and purchase…

Reinforcement Learning (RL) based methods have been increasingly explored for robot learning. However, RL based methods often suffer from low sampling efficiency in the exploration phase, especially for long-horizon manipulation tasks, and…

Legged robots must exhibit robust and agile locomotion across diverse, unstructured terrains, a challenge exacerbated under blind locomotion settings where terrain information is unavailable. This work introduces a hierarchical…

In this paper, we propose a novel hierarchical framework for robot navigation in dynamic environments with heterogeneous constraints. Our approach leverages a graph neural network trained via reinforcement learning (RL) to efficiently…

Maritime autonomous transportation has played a crucial role in the globalization of the world economy. Deep Reinforcement Learning (DRL) has been applied to automatic path planning to simulate vessel collision avoidance situations in open…

Learning control policies for complex, long-horizon tasks is a central challenge in robotics and autonomous systems. Signal Temporal Logic (STL) offers a powerful and expressive language for specifying such tasks, but its non-Markovian…

Large language models (LLMs) have shown remarkable abilities in logical reasoning, in-context learning, and code generation. However, translating natural language instructions into effective robotic control policies remains a significant…

Smart and agile drones are fast becoming ubiquitous at the edge of the cloud. The usage of these drones are constrained by their limited power and compute capability. In this paper, we present a Transfer Learning (TL) based approach to…

Hierarchical Reinforcement Learning (HRL) exploits temporally extended actions, or options, to make decisions from a higher-dimensional perspective to alleviate the sparse reward problem, one of the most challenging problems in…

This paper presents a technique for trajectory planning based on continuously parameterized high-level actions (motion primitives) of variable duration. This technique leverages deep reinforcement learning (Deep RL) to formulate a policy…